forked from bartvdbraak/blender
949b6ca80f
Implementation of the PHY_IPhysicsController::SetMargin(), GetMargin(), SetRadius() and GetRadius() for Bullet and Sumo to allow resetting the Near sensor radius. For bullet use the new setUnscaledRadius() function to change sphere radius. In pPreparation of a Fh constraint actuator: - Add KX_IPhysicsController::GetRadius() - Fix implementation of KX_BulletPhysicsController::GetVelocity() (velocity at a point in geometric coordinate) - Don't try to set velocity on static object (Bullet will assert) - Add KX_GameObject::GetVelocity() for C access to local velocity
514 lines
16 KiB
C++
514 lines
16 KiB
C++
/*
|
|
Bullet Continuous Collision Detection and Physics Library
|
|
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
|
|
|
|
This software is provided 'as-is', without any express or implied warranty.
|
|
In no event will the authors be held liable for any damages arising from the use of this software.
|
|
Permission is granted to anyone to use this software for any purpose,
|
|
including commercial applications, and to alter it and redistribute it freely,
|
|
subject to the following restrictions:
|
|
|
|
1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
|
|
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
|
|
3. This notice may not be removed or altered from any source distribution.
|
|
*/
|
|
|
|
|
|
#ifndef BULLET2_PHYSICSCONTROLLER_H
|
|
#define BULLET2_PHYSICSCONTROLLER_H
|
|
|
|
#include <vector>
|
|
#include <map>
|
|
|
|
#include "PHY_IPhysicsController.h"
|
|
|
|
/// PHY_IPhysicsController is the abstract simplified Interface to a physical object.
|
|
/// It contains the IMotionState and IDeformableMesh Interfaces.
|
|
#include "btBulletDynamicsCommon.h"
|
|
#include "LinearMath/btTransform.h"
|
|
|
|
#include "PHY_IMotionState.h"
|
|
|
|
extern float gDeactivationTime;
|
|
extern float gLinearSleepingTreshold;
|
|
extern float gAngularSleepingTreshold;
|
|
extern bool gDisableDeactivation;
|
|
class CcdPhysicsEnvironment;
|
|
class btMotionState;
|
|
class RAS_MeshObject;
|
|
class btCollisionShape;
|
|
|
|
|
|
#define CCD_BSB_SHAPE_MATCHING 2
|
|
#define CCD_BSB_BENDING_CONSTRAINTS 8
|
|
#define CCD_BSB_AERO_VPOINT 16 /* aero model, Vertex normals are oriented toward velocity*/
|
|
#define CCD_BSB_AERO_VTWOSIDE 32 /* aero model, Vertex normals are flipped to match velocity */
|
|
|
|
/* BulletSoftBody.collisionflags */
|
|
#define CCD_BSB_COL_SDF_RS 2 /* SDF based rigid vs soft */
|
|
#define CCD_BSB_COL_CL_RS 4 /* Cluster based rigid vs soft */
|
|
#define CCD_BSB_COL_CL_SS 8 /* Cluster based soft vs soft */
|
|
#define CCD_BSB_COL_VF_SS 16 /* Vertex/Face based soft vs soft */
|
|
|
|
|
|
|
|
// Shape contructor
|
|
// It contains all the information needed to create a simple bullet shape at runtime
|
|
class CcdShapeConstructionInfo
|
|
{
|
|
public:
|
|
|
|
|
|
static CcdShapeConstructionInfo* FindMesh(RAS_MeshObject* mesh, bool polytope);
|
|
|
|
CcdShapeConstructionInfo() :
|
|
m_shapeType(PHY_SHAPE_NONE),
|
|
m_radius(1.0),
|
|
m_height(1.0),
|
|
m_halfExtend(0.f,0.f,0.f),
|
|
m_childScale(1.0f,1.0f,1.0f),
|
|
m_refCount(1),
|
|
m_meshObject(NULL),
|
|
m_unscaledShape(NULL),
|
|
m_useGimpact(false),
|
|
m_weldingThreshold(0.f)
|
|
{
|
|
m_childTrans.setIdentity();
|
|
}
|
|
|
|
~CcdShapeConstructionInfo();
|
|
|
|
CcdShapeConstructionInfo* AddRef()
|
|
{
|
|
m_refCount++;
|
|
return this;
|
|
}
|
|
|
|
int Release()
|
|
{
|
|
if (--m_refCount > 0)
|
|
return m_refCount;
|
|
delete this;
|
|
return 0;
|
|
}
|
|
|
|
void AddShape(CcdShapeConstructionInfo* shapeInfo);
|
|
|
|
btTriangleMeshShape* GetMeshShape(void)
|
|
{
|
|
return m_unscaledShape;
|
|
}
|
|
CcdShapeConstructionInfo* GetChildShape(int i)
|
|
{
|
|
if (i < 0 || i >= m_shapeArray.size())
|
|
return NULL;
|
|
|
|
return m_shapeArray.at(i);
|
|
}
|
|
|
|
bool SetMesh(RAS_MeshObject* mesh, bool polytope,bool useGimpact);
|
|
RAS_MeshObject* GetMesh(void)
|
|
{
|
|
return m_meshObject;
|
|
}
|
|
|
|
btCollisionShape* CreateBulletShape();
|
|
|
|
// member variables
|
|
PHY_ShapeType m_shapeType;
|
|
btScalar m_radius;
|
|
btScalar m_height;
|
|
btVector3 m_halfExtend;
|
|
btTransform m_childTrans;
|
|
btVector3 m_childScale;
|
|
std::vector<btPoint3> m_vertexArray; // Contains both vertex array for polytope shape and
|
|
// triangle array for concave mesh shape.
|
|
// In this case a triangle is made of 3 consecutive points
|
|
std::vector<int> m_polygonIndexArray; // Contains the array of polygon index in the
|
|
// original mesh that correspond to shape triangles.
|
|
// only set for concave mesh shape.
|
|
|
|
void setVertexWeldingThreshold(float threshold)
|
|
{
|
|
m_weldingThreshold = threshold;
|
|
}
|
|
float getVertexWeldingThreshold() const
|
|
{
|
|
return m_weldingThreshold;
|
|
}
|
|
protected:
|
|
static std::map<RAS_MeshObject*, CcdShapeConstructionInfo*> m_meshShapeMap;
|
|
int m_refCount; // this class is shared between replicas
|
|
// keep track of users so that we can release it
|
|
RAS_MeshObject* m_meshObject; // Keep a pointer to the original mesh
|
|
btBvhTriangleMeshShape* m_unscaledShape;// holds the shared unscale BVH mesh shape,
|
|
// the actual shape is of type btScaledBvhTriangleMeshShape
|
|
std::vector<CcdShapeConstructionInfo*> m_shapeArray; // for compound shapes
|
|
bool m_useGimpact; //use gimpact for concave dynamic/moving collision detection
|
|
float m_weldingThreshold; //welding closeby vertices together can improve softbody stability etc.
|
|
|
|
};
|
|
|
|
struct CcdConstructionInfo
|
|
{
|
|
|
|
///CollisionFilterGroups provides some optional usage of basic collision filtering
|
|
///this is done during broadphase, so very early in the pipeline
|
|
///more advanced collision filtering should be done in btCollisionDispatcher::NeedsCollision
|
|
enum CollisionFilterGroups
|
|
{
|
|
DefaultFilter = 1,
|
|
StaticFilter = 2,
|
|
KinematicFilter = 4,
|
|
DebrisFilter = 8,
|
|
SensorFilter = 16,
|
|
AllFilter = DefaultFilter | StaticFilter | KinematicFilter | DebrisFilter | SensorFilter,
|
|
};
|
|
|
|
|
|
CcdConstructionInfo()
|
|
: m_localInertiaTensor(1.f, 1.f, 1.f),
|
|
m_gravity(0,0,0),
|
|
m_scaling(1.f,1.f,1.f),
|
|
m_mass(0.f),
|
|
m_restitution(0.1f),
|
|
m_friction(0.5f),
|
|
m_linearDamping(0.1f),
|
|
m_angularDamping(0.1f),
|
|
m_margin(0.06f),
|
|
m_gamesoftFlag(0),
|
|
m_collisionFlags(0),
|
|
m_bRigid(false),
|
|
m_bSoft(false),
|
|
m_collisionFilterGroup(DefaultFilter),
|
|
m_collisionFilterMask(AllFilter),
|
|
m_collisionShape(0),
|
|
m_MotionState(0),
|
|
m_shapeInfo(0),
|
|
m_physicsEnv(0),
|
|
m_inertiaFactor(1.f),
|
|
m_do_anisotropic(false),
|
|
m_anisotropicFriction(1.f,1.f,1.f)
|
|
{
|
|
}
|
|
|
|
btVector3 m_localInertiaTensor;
|
|
btVector3 m_gravity;
|
|
btVector3 m_scaling;
|
|
btScalar m_mass;
|
|
btScalar m_restitution;
|
|
btScalar m_friction;
|
|
btScalar m_linearDamping;
|
|
btScalar m_angularDamping;
|
|
btScalar m_margin;
|
|
|
|
////////////////////
|
|
int m_gamesoftFlag;
|
|
float m_soft_linStiff; /* linear stiffness 0..1 */
|
|
float m_soft_angStiff; /* angular stiffness 0..1 */
|
|
float m_soft_volume; /* volume preservation 0..1 */
|
|
|
|
int m_soft_viterations; /* Velocities solver iterations */
|
|
int m_soft_piterations; /* Positions solver iterations */
|
|
int m_soft_diterations; /* Drift solver iterations */
|
|
int m_soft_citerations; /* Cluster solver iterations */
|
|
|
|
float m_soft_kSRHR_CL; /* Soft vs rigid hardness [0,1] (cluster only) */
|
|
float m_soft_kSKHR_CL; /* Soft vs kinetic hardness [0,1] (cluster only) */
|
|
float m_soft_kSSHR_CL; /* Soft vs soft hardness [0,1] (cluster only) */
|
|
float m_soft_kSR_SPLT_CL; /* Soft vs rigid impulse split [0,1] (cluster only) */
|
|
|
|
float m_soft_kSK_SPLT_CL; /* Soft vs rigid impulse split [0,1] (cluster only) */
|
|
float m_soft_kSS_SPLT_CL; /* Soft vs rigid impulse split [0,1] (cluster only) */
|
|
float m_soft_kVCF; /* Velocities correction factor (Baumgarte) */
|
|
float m_soft_kDP; /* Damping coefficient [0,1] */
|
|
|
|
float m_soft_kDG; /* Drag coefficient [0,+inf] */
|
|
float m_soft_kLF; /* Lift coefficient [0,+inf] */
|
|
float m_soft_kPR; /* Pressure coefficient [-inf,+inf] */
|
|
float m_soft_kVC; /* Volume conversation coefficient [0,+inf] */
|
|
|
|
float m_soft_kDF; /* Dynamic friction coefficient [0,1] */
|
|
float m_soft_kMT; /* Pose matching coefficient [0,1] */
|
|
float m_soft_kCHR; /* Rigid contacts hardness [0,1] */
|
|
float m_soft_kKHR; /* Kinetic contacts hardness [0,1] */
|
|
|
|
float m_soft_kSHR; /* Soft contacts hardness [0,1] */
|
|
float m_soft_kAHR; /* Anchors hardness [0,1] */
|
|
int m_soft_collisionflags; /* Vertex/Face or Signed Distance Field(SDF) or Clusters, Soft versus Soft or Rigid */
|
|
int m_soft_numclusteriterations; /* number of iterations to refine collision clusters*/
|
|
///////////////////
|
|
|
|
|
|
|
|
int m_collisionFlags;
|
|
bool m_bRigid;
|
|
bool m_bSoft;
|
|
|
|
///optional use of collision group/mask:
|
|
///only collision with object goups that match the collision mask.
|
|
///this is very basic early out. advanced collision filtering should be
|
|
///done in the btCollisionDispatcher::NeedsCollision and NeedsResponse
|
|
///both values default to 1
|
|
short int m_collisionFilterGroup;
|
|
short int m_collisionFilterMask;
|
|
|
|
///these pointers are used as argument passing for the CcdPhysicsController constructor
|
|
///and not anymore after that
|
|
class btCollisionShape* m_collisionShape;
|
|
class PHY_IMotionState* m_MotionState;
|
|
class CcdShapeConstructionInfo* m_shapeInfo;
|
|
|
|
CcdPhysicsEnvironment* m_physicsEnv; //needed for self-replication
|
|
float m_inertiaFactor;//tweak the inertia (hooked up to Blender 'formfactor'
|
|
bool m_do_anisotropic;
|
|
btVector3 m_anisotropicFriction;
|
|
|
|
bool m_do_fh; ///< Should the object have a linear Fh spring?
|
|
bool m_do_rot_fh; ///< Should the object have an angular Fh spring?
|
|
btScalar m_fh_spring; ///< Spring constant (both linear and angular)
|
|
btScalar m_fh_damping; ///< Damping factor (linear and angular) in range [0, 1]
|
|
btScalar m_fh_distance; ///< The range above the surface where Fh is active.
|
|
bool m_fh_normal; ///< Should the object slide off slopes?
|
|
float m_radius;//for fh backwards compatibility
|
|
|
|
};
|
|
|
|
|
|
class btRigidBody;
|
|
class btCollisionObject;
|
|
class btSoftBody;
|
|
|
|
///CcdPhysicsController is a physics object that supports continuous collision detection and time of impact based physics resolution.
|
|
class CcdPhysicsController : public PHY_IPhysicsController
|
|
{
|
|
|
|
btCollisionObject* m_object;
|
|
|
|
|
|
class PHY_IMotionState* m_MotionState;
|
|
btMotionState* m_bulletMotionState;
|
|
class btCollisionShape* m_collisionShape;
|
|
class CcdShapeConstructionInfo* m_shapeInfo;
|
|
|
|
friend class CcdPhysicsEnvironment; // needed when updating the controller
|
|
|
|
//some book keeping for replication
|
|
bool m_softbodyMappingDone;
|
|
bool m_softBodyTransformInitialized;
|
|
bool m_prototypeTransformInitialized;
|
|
btTransform m_softbodyStartTrans;
|
|
|
|
|
|
void* m_newClientInfo;
|
|
int m_registerCount; // needed when multiple sensors use the same controller
|
|
CcdConstructionInfo m_cci;//needed for replication
|
|
|
|
CcdPhysicsController* m_parentCtrl;
|
|
|
|
void GetWorldOrientation(btMatrix3x3& mat);
|
|
|
|
void CreateRigidbody();
|
|
|
|
bool Register() {
|
|
return (m_registerCount++ == 0) ? true : false;
|
|
}
|
|
bool Unregister() {
|
|
return (--m_registerCount == 0) ? true : false;
|
|
}
|
|
|
|
protected:
|
|
void setWorldOrientation(const btMatrix3x3& mat);
|
|
|
|
public:
|
|
|
|
int m_collisionDelay;
|
|
|
|
|
|
CcdPhysicsController (const CcdConstructionInfo& ci);
|
|
|
|
virtual ~CcdPhysicsController();
|
|
|
|
CcdConstructionInfo& getConstructionInfo()
|
|
{
|
|
return m_cci;
|
|
}
|
|
const CcdConstructionInfo& getConstructionInfo() const
|
|
{
|
|
return m_cci;
|
|
}
|
|
|
|
|
|
btRigidBody* GetRigidBody();
|
|
btCollisionObject* GetCollisionObject();
|
|
btSoftBody* GetSoftBody();
|
|
|
|
CcdShapeConstructionInfo* GetShapeInfo() { return m_shapeInfo; }
|
|
|
|
btCollisionShape* GetCollisionShape() {
|
|
return m_object->getCollisionShape();
|
|
}
|
|
////////////////////////////////////
|
|
// PHY_IPhysicsController interface
|
|
////////////////////////////////////
|
|
|
|
|
|
/**
|
|
SynchronizeMotionStates ynchronizes dynas, kinematic and deformable entities (and do 'late binding')
|
|
*/
|
|
virtual bool SynchronizeMotionStates(float time);
|
|
/**
|
|
WriteMotionStateToDynamics ynchronizes dynas, kinematic and deformable entities (and do 'late binding')
|
|
*/
|
|
|
|
virtual void WriteMotionStateToDynamics(bool nondynaonly);
|
|
virtual void WriteDynamicsToMotionState();
|
|
// controller replication
|
|
virtual void PostProcessReplica(class PHY_IMotionState* motionstate,class PHY_IPhysicsController* parentctrl);
|
|
|
|
// kinematic methods
|
|
virtual void RelativeTranslate(float dlocX,float dlocY,float dlocZ,bool local);
|
|
virtual void RelativeRotate(const float drot[9],bool local);
|
|
virtual void getOrientation(float &quatImag0,float &quatImag1,float &quatImag2,float &quatReal);
|
|
virtual void setOrientation(float quatImag0,float quatImag1,float quatImag2,float quatReal);
|
|
virtual void setPosition(float posX,float posY,float posZ);
|
|
virtual void getPosition(PHY__Vector3& pos) const;
|
|
|
|
virtual void setScaling(float scaleX,float scaleY,float scaleZ);
|
|
|
|
// physics methods
|
|
virtual void ApplyTorque(float torqueX,float torqueY,float torqueZ,bool local);
|
|
virtual void ApplyForce(float forceX,float forceY,float forceZ,bool local);
|
|
virtual void SetAngularVelocity(float ang_velX,float ang_velY,float ang_velZ,bool local);
|
|
virtual void SetLinearVelocity(float lin_velX,float lin_velY,float lin_velZ,bool local);
|
|
virtual void applyImpulse(float attachX,float attachY,float attachZ, float impulseX,float impulseY,float impulseZ);
|
|
virtual void SetActive(bool active);
|
|
|
|
// reading out information from physics
|
|
virtual void GetLinearVelocity(float& linvX,float& linvY,float& linvZ);
|
|
virtual void GetAngularVelocity(float& angVelX,float& angVelY,float& angVelZ);
|
|
virtual void GetVelocity(const float posX,const float posY,const float posZ,float& linvX,float& linvY,float& linvZ);
|
|
virtual void getReactionForce(float& forceX,float& forceY,float& forceZ);
|
|
|
|
// dyna's that are rigidbody are free in orientation, dyna's with non-rigidbody are restricted
|
|
virtual void setRigidBody(bool rigid);
|
|
|
|
|
|
virtual void resolveCombinedVelocities(float linvelX,float linvelY,float linvelZ,float angVelX,float angVelY,float angVelZ);
|
|
|
|
// clientinfo for raycasts for example
|
|
virtual void* getNewClientInfo();
|
|
virtual void setNewClientInfo(void* clientinfo);
|
|
virtual PHY_IPhysicsController* GetReplica();
|
|
|
|
///There should be no 'SetCollisionFilterGroup' method, as changing this during run-time is will result in errors
|
|
short int GetCollisionFilterGroup() const
|
|
{
|
|
return m_cci.m_collisionFilterGroup;
|
|
}
|
|
///There should be no 'SetCollisionFilterGroup' method, as changing this during run-time is will result in errors
|
|
short int GetCollisionFilterMask() const
|
|
{
|
|
return m_cci.m_collisionFilterMask;
|
|
}
|
|
|
|
virtual void calcXform() {} ;
|
|
virtual void SetMargin(float margin)
|
|
{
|
|
if (m_collisionShape)
|
|
m_collisionShape->setMargin(btScalar(margin));
|
|
}
|
|
virtual float GetMargin() const
|
|
{
|
|
return (m_collisionShape) ? m_collisionShape->getMargin() : 0.f;
|
|
}
|
|
virtual float GetRadius() const
|
|
{
|
|
// this is not the actual shape radius, it's only used for Fh support
|
|
return m_cci.m_radius;
|
|
}
|
|
virtual void SetRadius(float margin)
|
|
{
|
|
if (m_collisionShape && m_collisionShape->getShapeType() == SPHERE_SHAPE_PROXYTYPE)
|
|
{
|
|
btSphereShape* sphereShape = static_cast<btSphereShape*>(m_collisionShape);
|
|
sphereShape->setUnscaledRadius(margin);
|
|
}
|
|
m_cci.m_radius = margin;
|
|
}
|
|
|
|
|
|
bool wantsSleeping();
|
|
|
|
void UpdateDeactivation(float timeStep);
|
|
|
|
void SetCenterOfMassTransform(btTransform& xform);
|
|
|
|
static btTransform GetTransformFromMotionState(PHY_IMotionState* motionState);
|
|
|
|
void setAabb(const btVector3& aabbMin,const btVector3& aabbMax);
|
|
|
|
|
|
class PHY_IMotionState* GetMotionState()
|
|
{
|
|
return m_MotionState;
|
|
}
|
|
|
|
const class PHY_IMotionState* GetMotionState() const
|
|
{
|
|
return m_MotionState;
|
|
}
|
|
|
|
class CcdPhysicsEnvironment* GetPhysicsEnvironment()
|
|
{
|
|
return m_cci.m_physicsEnv;
|
|
}
|
|
|
|
void setParentCtrl(CcdPhysicsController* parentCtrl)
|
|
{
|
|
m_parentCtrl = parentCtrl;
|
|
}
|
|
|
|
CcdPhysicsController* getParentCtrl()
|
|
{
|
|
return m_parentCtrl;
|
|
}
|
|
|
|
const CcdPhysicsController* getParentCtrl() const
|
|
{
|
|
return m_parentCtrl;
|
|
}
|
|
|
|
|
|
|
|
};
|
|
|
|
|
|
|
|
|
|
///DefaultMotionState implements standard motionstate, using btTransform
|
|
class DefaultMotionState : public PHY_IMotionState
|
|
|
|
{
|
|
public:
|
|
DefaultMotionState();
|
|
|
|
virtual ~DefaultMotionState();
|
|
|
|
virtual void getWorldPosition(float& posX,float& posY,float& posZ);
|
|
virtual void getWorldScaling(float& scaleX,float& scaleY,float& scaleZ);
|
|
virtual void getWorldOrientation(float& quatIma0,float& quatIma1,float& quatIma2,float& quatReal);
|
|
|
|
virtual void setWorldPosition(float posX,float posY,float posZ);
|
|
virtual void setWorldOrientation(float quatIma0,float quatIma1,float quatIma2,float quatReal);
|
|
|
|
virtual void calculateWorldTransformations();
|
|
|
|
btTransform m_worldTransform;
|
|
btVector3 m_localScaling;
|
|
|
|
};
|
|
|
|
|
|
#endif //BULLET2_PHYSICSCONTROLLER_H
|