forked from bartvdbraak/blender
0020de72e4
A btBvhTriangleMeshShape object is created when converting a mesh to physics, also in case of Soft body although the soft body will not use it (it only uses the mesh interface). This patch keeps this system for compatibility with the KX converter but avoids the creation of the BVH structure, which consumes a lots of CPU. This should speed up significantly the conversion of large mesh to softbody. A secondary optimization is that the sharing of shapeInfo is extended to rigid body using gImpact. Before it was only active between static body and soft body.
525 lines
17 KiB
C++
525 lines
17 KiB
C++
//under visual studio the #define in KX_ConvertPhysicsObject.h is quicker for recompilation
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#include "KX_ConvertPhysicsObject.h"
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#ifdef USE_BULLET
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#include "KX_BulletPhysicsController.h"
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#include "btBulletDynamicsCommon.h"
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#include "SG_Spatial.h"
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#include "KX_GameObject.h"
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#include "KX_MotionState.h"
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#include "KX_ClientObjectInfo.h"
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#include "PHY_IPhysicsEnvironment.h"
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#include "CcdPhysicsEnvironment.h"
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#include "BulletSoftBody/btSoftBody.h"
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KX_BulletPhysicsController::KX_BulletPhysicsController (const CcdConstructionInfo& ci, bool dyna, bool sensor, bool compound)
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: KX_IPhysicsController(dyna,sensor,compound,(PHY_IPhysicsController*)this),
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CcdPhysicsController(ci),
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m_savedCollisionFlags(0),
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m_savedCollisionFilterGroup(0),
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m_savedCollisionFilterMask(0),
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m_savedMass(0.0),
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m_savedDyna(false),
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m_suspended(false),
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m_bulletChildShape(NULL)
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{
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}
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KX_BulletPhysicsController::~KX_BulletPhysicsController ()
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{
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// The game object has a direct link to
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if (m_pObject)
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{
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// If we cheat in SetObject, we must also cheat here otherwise the
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// object will still things it has a physical controller
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// Note that it requires that m_pObject is reset in case the object is deleted
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// before the controller (usual case, see KX_Scene::RemoveNodeDestructObjec)
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// The non usual case is when the object is not deleted because its reference is hanging
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// in a AddObject actuator but the node is deleted. This case is covered here.
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KX_GameObject* gameobj = (KX_GameObject*) m_pObject->GetSGClientObject();
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gameobj->SetPhysicsController(NULL,false);
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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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CcdPhysicsController::applyImpulse(attach[0],attach[1],attach[2],impulse[0],impulse[1],impulse[2]);
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}
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float KX_BulletPhysicsController::GetLinVelocityMin()
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{
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return (float)CcdPhysicsController::GetLinVelocityMin();
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}
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void KX_BulletPhysicsController::SetLinVelocityMin(float val)
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{
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CcdPhysicsController::SetLinVelocityMin(val);
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}
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float KX_BulletPhysicsController::GetLinVelocityMax()
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{
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return (float)CcdPhysicsController::GetLinVelocityMax();
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}
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void KX_BulletPhysicsController::SetLinVelocityMax(float val)
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{
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CcdPhysicsController::SetLinVelocityMax(val);
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}
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void KX_BulletPhysicsController::SetObject (SG_IObject* object)
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{
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SG_Controller::SetObject(object);
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// cheating here...
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//should not be necessary, is it for duplicates ?
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KX_GameObject* gameobj = (KX_GameObject*) object->GetSGClientObject();
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gameobj->SetPhysicsController(this,gameobj->IsDynamic());
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CcdPhysicsController::setNewClientInfo(gameobj->getClientInfo());
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if (m_bSensor)
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{
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// use a different callback function for sensor object,
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// bullet will not synchronize, we must do it explicitely
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SG_Callbacks& callbacks = gameobj->GetSGNode()->GetCallBackFunctions();
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callbacks.m_updatefunc = KX_GameObject::SynchronizeTransformFunc;
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}
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}
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MT_Scalar KX_BulletPhysicsController::GetRadius()
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{
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return MT_Scalar(CcdPhysicsController::GetRadius());
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}
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void KX_BulletPhysicsController::setMargin (float collisionMargin)
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{
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CcdPhysicsController::SetMargin(collisionMargin);
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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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float rotval[12];
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drot.getValue(rotval);
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CcdPhysicsController::RelativeRotate(rotval,local);
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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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CcdPhysicsController::ApplyTorque(torque.x(),torque.y(),torque.z(),local);
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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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CcdPhysicsController::ApplyForce(force.x(),force.y(),force.z(),local);
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}
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MT_Vector3 KX_BulletPhysicsController::GetLinearVelocity()
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{
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float angVel[3];
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//CcdPhysicsController::GetAngularVelocity(angVel[0],angVel[1],angVel[2]);
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CcdPhysicsController::GetLinearVelocity(angVel[0],angVel[1],angVel[2]);//rcruiz
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return MT_Vector3(angVel[0],angVel[1],angVel[2]);
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}
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MT_Vector3 KX_BulletPhysicsController::GetAngularVelocity()
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{
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float angVel[3];
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//CcdPhysicsController::GetAngularVelocity(angVel[0],angVel[1],angVel[2]);
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CcdPhysicsController::GetAngularVelocity(angVel[0],angVel[1],angVel[2]);//rcruiz
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return MT_Vector3(angVel[0],angVel[1],angVel[2]);
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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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float linVel[3];
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CcdPhysicsController::GetVelocity(pos[0], pos[1], pos[2], linVel[0],linVel[1],linVel[2]);
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return MT_Vector3(linVel[0],linVel[1],linVel[2]);
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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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float myorn[4];
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CcdPhysicsController::getOrientation(myorn[0],myorn[1],myorn[2],myorn[3]);
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orn = MT_Quaternion(myorn[0],myorn[1],myorn[2],myorn[3]);
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}
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void KX_BulletPhysicsController::setOrientation(const MT_Matrix3x3& orn)
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{
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btMatrix3x3 btmat(orn[0][0], orn[0][1], orn[0][2], orn[1][0], orn[1][1], orn[1][2], orn[2][0], orn[2][1], orn[2][2]);
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CcdPhysicsController::setWorldOrientation(btmat);
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}
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void KX_BulletPhysicsController::setPosition(const MT_Point3& pos)
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{
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CcdPhysicsController::setPosition(pos.x(),pos.y(),pos.z());
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}
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void KX_BulletPhysicsController::setScaling(const MT_Vector3& scaling)
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{
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CcdPhysicsController::setScaling(scaling.x(),scaling.y(),scaling.z());
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}
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void KX_BulletPhysicsController::SetTransform()
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{
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btVector3 pos;
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btVector3 scale;
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float ori[12];
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m_MotionState->getWorldPosition(pos.m_floats[0],pos.m_floats[1],pos.m_floats[2]);
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m_MotionState->getWorldScaling(scale.m_floats[0],scale.m_floats[1],scale.m_floats[2]);
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m_MotionState->getWorldOrientation(ori);
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btMatrix3x3 rot(ori[0], ori[4], ori[8],
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ori[1], ori[5], ori[9],
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ori[2], ori[6], ori[10]);
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CcdPhysicsController::forceWorldTransform(rot, pos);
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}
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MT_Scalar KX_BulletPhysicsController::GetMass()
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{
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if (GetSoftBody())
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return GetSoftBody()->getTotalMass();
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MT_Scalar invmass = 0.f;
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if (GetRigidBody())
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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::GetLocalInertia()
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{
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MT_Vector3 inertia(0.f, 0.f, 0.f);
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btVector3 inv_inertia;
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if (GetRigidBody()) {
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inv_inertia = GetRigidBody()->getInvInertiaDiagLocal();
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if (!btFuzzyZero(inv_inertia.getX()) &&
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!btFuzzyZero(inv_inertia.getY()) &&
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!btFuzzyZero(inv_inertia.getZ()))
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inertia = MT_Vector3(1.f/inv_inertia.getX(), 1.f/inv_inertia.getY(), 1.f/inv_inertia.getZ());
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}
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return inertia;
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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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/* This function dynamically adds the collision shape of another controller to
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the current controller shape provided it is a compound shape.
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The idea is that dynamic parenting on a compound object will dynamically extend the shape
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*/
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void KX_BulletPhysicsController::AddCompoundChild(KX_IPhysicsController* child)
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{
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if (child == NULL || !IsCompound())
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return;
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// other controller must be a bullet controller too
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// verify that body and shape exist and match
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KX_BulletPhysicsController* childCtrl = dynamic_cast<KX_BulletPhysicsController*>(child);
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btRigidBody* rootBody = GetRigidBody();
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btRigidBody* childBody = childCtrl->GetRigidBody();
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if (!rootBody || !childBody)
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return;
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const btCollisionShape* rootShape = rootBody->getCollisionShape();
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const btCollisionShape* childShape = childBody->getCollisionShape();
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if (!rootShape ||
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!childShape ||
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rootShape->getShapeType() != COMPOUND_SHAPE_PROXYTYPE ||
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childShape->getShapeType() == COMPOUND_SHAPE_PROXYTYPE)
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return;
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btCompoundShape* compoundShape = (btCompoundShape*)rootShape;
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// compute relative transformation between parent and child
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btTransform rootTrans;
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btTransform childTrans;
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rootBody->getMotionState()->getWorldTransform(rootTrans);
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childBody->getMotionState()->getWorldTransform(childTrans);
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btVector3 rootScale = rootShape->getLocalScaling();
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rootScale[0] = 1.0/rootScale[0];
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rootScale[1] = 1.0/rootScale[1];
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rootScale[2] = 1.0/rootScale[2];
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// relative scale = child_scale/parent_scale
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btVector3 relativeScale = childShape->getLocalScaling()*rootScale;
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btMatrix3x3 rootRotInverse = rootTrans.getBasis().transpose();
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// relative pos = parent_rot^-1 * ((parent_pos-child_pos)/parent_scale)
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btVector3 relativePos = rootRotInverse*((childTrans.getOrigin()-rootTrans.getOrigin())*rootScale);
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// relative rot = parent_rot^-1 * child_rot
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btMatrix3x3 relativeRot = rootRotInverse*childTrans.getBasis();
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// create a proxy shape info to store the transformation
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CcdShapeConstructionInfo* proxyShapeInfo = new CcdShapeConstructionInfo();
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// store the transformation to this object shapeinfo
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proxyShapeInfo->m_childTrans.setOrigin(relativePos);
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proxyShapeInfo->m_childTrans.setBasis(relativeRot);
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proxyShapeInfo->m_childScale.setValue(relativeScale[0], relativeScale[1], relativeScale[2]);
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// we will need this to make sure that we remove the right proxy later when unparenting
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proxyShapeInfo->m_userData = childCtrl;
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proxyShapeInfo->SetProxy(childCtrl->GetShapeInfo()->AddRef());
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// add to parent compound shapeinfo (increments ref count)
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GetShapeInfo()->AddShape(proxyShapeInfo);
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// create new bullet collision shape from the object shapeinfo and set scaling
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btCollisionShape* newChildShape = proxyShapeInfo->CreateBulletShape(childCtrl->GetMargin(), childCtrl->getConstructionInfo().m_bGimpact, true);
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newChildShape->setLocalScaling(relativeScale);
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// add bullet collision shape to parent compound collision shape
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compoundShape->addChildShape(proxyShapeInfo->m_childTrans,newChildShape);
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// proxyShapeInfo is not needed anymore, release it
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proxyShapeInfo->Release();
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// remember we created this shape
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childCtrl->m_bulletChildShape = newChildShape;
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// recompute inertia of parent
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if (!rootBody->isStaticOrKinematicObject())
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{
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btVector3 localInertia;
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float mass = 1.f/rootBody->getInvMass();
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compoundShape->calculateLocalInertia(mass,localInertia);
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rootBody->setMassProps(mass,localInertia);
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}
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// must update the broadphase cache,
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GetPhysicsEnvironment()->refreshCcdPhysicsController(this);
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// remove the children
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GetPhysicsEnvironment()->disableCcdPhysicsController(childCtrl);
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}
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/* Reverse function of the above, it will remove a shape from a compound shape
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provided that the former was added to the later using AddCompoundChild()
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*/
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void KX_BulletPhysicsController::RemoveCompoundChild(KX_IPhysicsController* child)
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{
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if (child == NULL || !IsCompound())
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return;
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// other controller must be a bullet controller too
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// verify that body and shape exist and match
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KX_BulletPhysicsController* childCtrl = dynamic_cast<KX_BulletPhysicsController*>(child);
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btRigidBody* rootBody = GetRigidBody();
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btRigidBody* childBody = childCtrl->GetRigidBody();
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if (!rootBody || !childBody)
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return;
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const btCollisionShape* rootShape = rootBody->getCollisionShape();
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if (!rootShape ||
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rootShape->getShapeType() != COMPOUND_SHAPE_PROXYTYPE)
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return;
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btCompoundShape* compoundShape = (btCompoundShape*)rootShape;
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// retrieve the shapeInfo
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CcdShapeConstructionInfo* childShapeInfo = childCtrl->GetShapeInfo();
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CcdShapeConstructionInfo* rootShapeInfo = GetShapeInfo();
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// and verify that the child is part of the parent
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int i = rootShapeInfo->FindChildShape(childShapeInfo, childCtrl);
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if (i < 0)
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return;
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rootShapeInfo->RemoveChildShape(i);
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if (childCtrl->m_bulletChildShape)
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{
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int numChildren = compoundShape->getNumChildShapes();
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for (i=0; i<numChildren; i++)
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{
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if (compoundShape->getChildShape(i) == childCtrl->m_bulletChildShape)
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{
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compoundShape->removeChildShapeByIndex(i);
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compoundShape->recalculateLocalAabb();
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break;
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}
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}
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delete childCtrl->m_bulletChildShape;
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childCtrl->m_bulletChildShape = NULL;
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}
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// recompute inertia of parent
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if (!rootBody->isStaticOrKinematicObject())
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{
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btVector3 localInertia;
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float mass = 1.f/rootBody->getInvMass();
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compoundShape->calculateLocalInertia(mass,localInertia);
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rootBody->setMassProps(mass,localInertia);
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}
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// must update the broadphase cache,
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GetPhysicsEnvironment()->refreshCcdPhysicsController(this);
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// reactivate the children
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GetPhysicsEnvironment()->enableCcdPhysicsController(childCtrl);
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}
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void KX_BulletPhysicsController::SetMass(MT_Scalar newmass)
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{
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btRigidBody *body = GetRigidBody();
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if (body && !m_suspended && newmass>MT_EPSILON && GetMass()>MT_EPSILON)
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{
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btVector3 grav = body->getGravity();
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btVector3 accel = grav / GetMass();
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btBroadphaseProxy* handle = body->getBroadphaseHandle();
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GetPhysicsEnvironment()->updateCcdPhysicsController(this,
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newmass,
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body->getCollisionFlags(),
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handle->m_collisionFilterGroup,
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handle->m_collisionFilterMask);
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body->setGravity(accel);
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}
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}
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void KX_BulletPhysicsController::SuspendDynamics(bool ghost)
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{
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btRigidBody *body = GetRigidBody();
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if (body && !m_suspended && !IsSensor())
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{
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btBroadphaseProxy* handle = body->getBroadphaseHandle();
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m_savedCollisionFlags = body->getCollisionFlags();
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m_savedMass = GetMass();
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m_savedDyna = m_bDyna;
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m_savedCollisionFilterGroup = handle->m_collisionFilterGroup;
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m_savedCollisionFilterMask = handle->m_collisionFilterMask;
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m_suspended = true;
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GetPhysicsEnvironment()->updateCcdPhysicsController(this,
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0.0,
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btCollisionObject::CF_STATIC_OBJECT|((ghost)?btCollisionObject::CF_NO_CONTACT_RESPONSE:(m_savedCollisionFlags&btCollisionObject::CF_NO_CONTACT_RESPONSE)),
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btBroadphaseProxy::StaticFilter,
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btBroadphaseProxy::AllFilter ^ btBroadphaseProxy::StaticFilter);
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m_bDyna = false;
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}
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}
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void KX_BulletPhysicsController::RestoreDynamics()
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{
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btRigidBody *body = GetRigidBody();
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if (body && m_suspended)
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{
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// before make sure any position change that was done in this logic frame are accounted for
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SetTransform();
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GetPhysicsEnvironment()->updateCcdPhysicsController(this,
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m_savedMass,
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m_savedCollisionFlags,
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m_savedCollisionFilterGroup,
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m_savedCollisionFilterMask);
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body->activate();
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m_bDyna = m_savedDyna;
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m_suspended = false;
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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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PHY_IMotionState* motionstate = new KX_MotionState(destnode);
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KX_BulletPhysicsController* physicsreplica = new KX_BulletPhysicsController(*this);
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//parentcontroller is here be able to avoid collisions between parent/child
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PHY_IPhysicsController* parentctrl = NULL;
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KX_BulletPhysicsController* parentKxCtrl = NULL;
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CcdPhysicsController* ccdParent = NULL;
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if (destnode != destnode->GetRootSGParent())
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{
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KX_GameObject* clientgameobj = (KX_GameObject*) destnode->GetRootSGParent()->GetSGClientObject();
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if (clientgameobj)
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{
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parentctrl = (KX_BulletPhysicsController*)clientgameobj->GetPhysicsController();
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} else
|
|
{
|
|
// it could be a false node, try the children
|
|
NodeList::const_iterator childit;
|
|
for (
|
|
childit = destnode->GetSGChildren().begin();
|
|
childit!= destnode->GetSGChildren().end();
|
|
++childit
|
|
) {
|
|
KX_GameObject *clientgameobj_child = static_cast<KX_GameObject*>( (*childit)->GetSGClientObject());
|
|
if (clientgameobj_child)
|
|
{
|
|
parentKxCtrl = (KX_BulletPhysicsController*)clientgameobj_child->GetPhysicsController();
|
|
parentctrl = parentKxCtrl;
|
|
ccdParent = parentKxCtrl;
|
|
}
|
|
}
|
|
}
|
|
}
|
|
|
|
physicsreplica->setParentCtrl(ccdParent);
|
|
physicsreplica->PostProcessReplica(motionstate,parentctrl);
|
|
physicsreplica->m_userdata = (PHY_IPhysicsController*)physicsreplica;
|
|
physicsreplica->m_bulletChildShape = NULL;
|
|
return physicsreplica;
|
|
|
|
}
|
|
|
|
|
|
|
|
void KX_BulletPhysicsController::SetSumoTransform(bool nondynaonly)
|
|
{
|
|
|
|
if (!m_bDyna && !m_bSensor)
|
|
{
|
|
btCollisionObject* object = GetRigidBody();
|
|
object->setActivationState(ACTIVE_TAG);
|
|
object->setCollisionFlags(object->getCollisionFlags() | btCollisionObject::CF_KINEMATIC_OBJECT);
|
|
} else
|
|
{
|
|
if (!nondynaonly)
|
|
{
|
|
/*
|
|
btTransform worldTrans;
|
|
if (GetRigidBody())
|
|
{
|
|
GetRigidBody()->getMotionState()->getWorldTransform(worldTrans);
|
|
GetRigidBody()->setCenterOfMassTransform(worldTrans);
|
|
}
|
|
*/
|
|
/*
|
|
scaling?
|
|
if (m_bDyna)
|
|
{
|
|
m_sumoObj->setScaling(MT_Vector3(1,1,1));
|
|
} else
|
|
{
|
|
MT_Vector3 scale;
|
|
GetWorldScaling(scale);
|
|
m_sumoObj->setScaling(scale);
|
|
}
|
|
*/
|
|
|
|
}
|
|
}
|
|
}
|
|
|
|
// todo: remove next line !
|
|
void KX_BulletPhysicsController::SetSimulatedTime(double time)
|
|
{
|
|
}
|
|
|
|
// call from scene graph to update
|
|
bool KX_BulletPhysicsController::Update(double time)
|
|
{
|
|
return false;
|
|
|
|
// todo: check this code
|
|
//if (GetMass())
|
|
//{
|
|
// return false;//true;
|
|
// }
|
|
// return false;
|
|
}
|
|
|
|
#endif //#ifdef USE_BULLET
|