forked from bartvdbraak/blender
660 lines
20 KiB
C++
660 lines
20 KiB
C++
/*
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Bullet Continuous Collision Detection and Physics Library
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Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
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This software is provided 'as-is', without any express or implied warranty.
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In no event will the authors be held liable for any damages arising from the use of this software.
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Permission is granted to anyone to use this software for any purpose,
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including commercial applications, and to alter it and redistribute it freely,
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subject to the following restrictions:
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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.
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2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
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3. This notice may not be removed or altered from any source distribution.
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*/
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/** \file CcdPhysicsController.h
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* \ingroup physbullet
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*/
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#ifndef BULLET2_PHYSICSCONTROLLER_H
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#define BULLET2_PHYSICSCONTROLLER_H
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#include <vector>
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#include <map>
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#include "PHY_IPhysicsController.h"
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/// PHY_IPhysicsController is the abstract simplified Interface to a physical object.
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/// It contains the IMotionState and IDeformableMesh Interfaces.
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#include "btBulletDynamicsCommon.h"
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#include "LinearMath/btTransform.h"
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#include "PHY_IMotionState.h"
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extern float gDeactivationTime;
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extern float gLinearSleepingTreshold;
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extern float gAngularSleepingTreshold;
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extern bool gDisableDeactivation;
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class CcdPhysicsEnvironment;
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class btMotionState;
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class RAS_MeshObject;
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struct DerivedMesh;
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class btCollisionShape;
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#define CCD_BSB_SHAPE_MATCHING 2
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#define CCD_BSB_BENDING_CONSTRAINTS 8
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#define CCD_BSB_AERO_VPOINT 16 /* aero model, Vertex normals are oriented toward velocity*/
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#define CCD_BSB_AERO_VTWOSIDE 32 /* aero model, Vertex normals are flipped to match velocity */
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/* BulletSoftBody.collisionflags */
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#define CCD_BSB_COL_SDF_RS 2 /* SDF based rigid vs soft */
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#define CCD_BSB_COL_CL_RS 4 /* Cluster based rigid vs soft */
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#define CCD_BSB_COL_CL_SS 8 /* Cluster based soft vs soft */
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#define CCD_BSB_COL_VF_SS 16 /* Vertex/Face based soft vs soft */
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// Shape contructor
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// It contains all the information needed to create a simple bullet shape at runtime
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class CcdShapeConstructionInfo
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{
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public:
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struct UVco
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{
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float uv[2];
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};
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static CcdShapeConstructionInfo* FindMesh(class RAS_MeshObject* mesh, struct DerivedMesh* dm, bool polytope);
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CcdShapeConstructionInfo() :
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m_shapeType(PHY_SHAPE_NONE),
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m_radius(1.0),
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m_height(1.0),
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m_halfExtend(0.f,0.f,0.f),
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m_childScale(1.0f,1.0f,1.0f),
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m_userData(NULL),
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m_refCount(1),
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m_meshObject(NULL),
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m_unscaledShape(NULL),
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m_forceReInstance(false),
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m_weldingThreshold1(0.f),
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m_shapeProxy(NULL)
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{
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m_childTrans.setIdentity();
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}
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~CcdShapeConstructionInfo();
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CcdShapeConstructionInfo* AddRef()
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{
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m_refCount++;
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return this;
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}
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int Release()
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{
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if (--m_refCount > 0)
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return m_refCount;
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delete this;
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return 0;
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}
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bool IsUnused(void)
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{
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return (m_meshObject==NULL && m_shapeArray.size() == 0 && m_shapeProxy == NULL);
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}
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void AddShape(CcdShapeConstructionInfo* shapeInfo);
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btTriangleMeshShape* GetMeshShape(void)
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{
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return (m_unscaledShape);
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}
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CcdShapeConstructionInfo* GetChildShape(int i)
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{
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if (i < 0 || i >= (int)m_shapeArray.size())
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return NULL;
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return m_shapeArray.at(i);
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}
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int FindChildShape(CcdShapeConstructionInfo* shapeInfo, void* userData)
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{
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if (shapeInfo == NULL)
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return -1;
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for (int i=0; i<(int)m_shapeArray.size(); i++)
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{
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CcdShapeConstructionInfo* childInfo = m_shapeArray.at(i);
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if ((userData == NULL || userData == childInfo->m_userData) &&
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(childInfo == shapeInfo ||
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(childInfo->m_shapeType == PHY_SHAPE_PROXY &&
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childInfo->m_shapeProxy == shapeInfo)))
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return i;
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}
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return -1;
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}
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bool RemoveChildShape(int i)
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{
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if (i < 0 || i >= (int)m_shapeArray.size())
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return false;
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m_shapeArray.at(i)->Release();
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if (i < (int)m_shapeArray.size()-1)
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m_shapeArray[i] = m_shapeArray.back();
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m_shapeArray.pop_back();
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return true;
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}
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bool SetMesh(class RAS_MeshObject* mesh, struct DerivedMesh* dm, bool polytope);
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RAS_MeshObject* GetMesh(void)
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{
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return m_meshObject;
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}
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bool UpdateMesh(class KX_GameObject* gameobj, class RAS_MeshObject* mesh);
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bool SetProxy(CcdShapeConstructionInfo* shapeInfo);
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CcdShapeConstructionInfo* GetProxy(void)
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{
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return m_shapeProxy;
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}
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btCollisionShape* CreateBulletShape(btScalar margin, bool useGimpact=false, bool useBvh=true);
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// member variables
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PHY_ShapeType m_shapeType;
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btScalar m_radius;
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btScalar m_height;
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btVector3 m_halfExtend;
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btTransform m_childTrans;
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btVector3 m_childScale;
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void* m_userData;
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btAlignedObjectArray<btScalar> m_vertexArray; // Contains both vertex array for polytope shape and
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// triangle array for concave mesh shape. Each vertex is 3 consecutive values
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// In this case a triangle is made of 3 consecutive points
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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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std::vector<UVco> m_triFaceUVcoArray; // Contains an array of pair of UV coordinate for each vertex of faces
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// quads turn into 2 tris
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void setVertexWeldingThreshold1(float threshold)
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{
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m_weldingThreshold1 = threshold*threshold;
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}
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protected:
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static std::map<RAS_MeshObject*, CcdShapeConstructionInfo*> m_meshShapeMap;
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int m_refCount; // this class is shared between replicas
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// keep track of users so that we can release it
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RAS_MeshObject* m_meshObject; // Keep a pointer to the original mesh
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btBvhTriangleMeshShape* m_unscaledShape;// holds the shared unscale BVH mesh shape,
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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_forceReInstance; //use gimpact for concave dynamic/moving collision detection
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float m_weldingThreshold1; //welding closeby vertices together can improve softbody stability etc.
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CcdShapeConstructionInfo* m_shapeProxy; // only used for PHY_SHAPE_PROXY, pointer to actual shape info
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#ifdef WITH_CXX_GUARDEDALLOC
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public:
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void *operator new(size_t num_bytes) { return MEM_mallocN(num_bytes, "GE:CcdShapeConstructionInfo"); }
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void operator delete( void *mem ) { MEM_freeN(mem); }
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#endif
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};
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struct CcdConstructionInfo
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{
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///CollisionFilterGroups provides some optional usage of basic collision filtering
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///this is done during broadphase, so very early in the pipeline
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///more advanced collision filtering should be done in btCollisionDispatcher::NeedsCollision
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enum CollisionFilterGroups
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{
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DefaultFilter = 1,
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StaticFilter = 2,
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KinematicFilter = 4,
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DebrisFilter = 8,
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SensorFilter = 16,
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AllFilter = DefaultFilter | StaticFilter | KinematicFilter | DebrisFilter | SensorFilter,
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};
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CcdConstructionInfo()
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:m_localInertiaTensor(1.f, 1.f, 1.f),
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m_gravity(0,0,0),
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m_scaling(1.f,1.f,1.f),
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m_mass(0.f),
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m_clamp_vel_min(-1.f),
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m_clamp_vel_max(-1.f),
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m_restitution(0.1f),
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m_friction(0.5f),
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m_linearDamping(0.1f),
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m_angularDamping(0.1f),
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m_margin(0.06f),
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m_gamesoftFlag(0),
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m_soft_linStiff(1.f),
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m_soft_angStiff(1.f),
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m_soft_volume(1.f),
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m_soft_viterations(0),
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m_soft_piterations(1),
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m_soft_diterations(0),
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m_soft_citerations(4),
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m_soft_kSRHR_CL(0.1f),
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m_soft_kSKHR_CL(1.f),
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m_soft_kSSHR_CL(0.5f),
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m_soft_kSR_SPLT_CL(0.5f),
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m_soft_kSK_SPLT_CL(0.5f),
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m_soft_kSS_SPLT_CL(0.5f),
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m_soft_kVCF(1.f),
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m_soft_kDP(0.f),
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m_soft_kDG(0.f),
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m_soft_kLF(0.f),
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m_soft_kPR(0.f),
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m_soft_kVC(0.f),
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m_soft_kDF(0.2f),
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m_soft_kMT(0),
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m_soft_kCHR(1.0f),
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m_soft_kKHR(0.1f),
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m_soft_kSHR(1.0f),
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m_soft_kAHR(0.7f),
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m_collisionFlags(0),
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m_bRigid(false),
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m_bSoft(false),
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m_bSensor(false),
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m_bGimpact(false),
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m_collisionFilterGroup(DefaultFilter),
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m_collisionFilterMask(AllFilter),
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m_collisionShape(0),
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m_MotionState(0),
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m_shapeInfo(0),
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m_physicsEnv(0),
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m_inertiaFactor(1.f),
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m_do_anisotropic(false),
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m_anisotropicFriction(1.f,1.f,1.f),
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m_do_fh(false),
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m_do_rot_fh(false),
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m_fh_spring(0.f),
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m_fh_damping(0.f),
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m_fh_distance(1.f),
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m_fh_normal(false),
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m_contactProcessingThreshold(1e10f)
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{
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}
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btVector3 m_localInertiaTensor;
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btVector3 m_gravity;
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btVector3 m_scaling;
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btScalar m_mass;
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btScalar m_clamp_vel_min;
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btScalar m_clamp_vel_max;
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btScalar m_restitution;
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btScalar m_friction;
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btScalar m_linearDamping;
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btScalar m_angularDamping;
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btScalar m_margin;
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////////////////////
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int m_gamesoftFlag;
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float m_soft_linStiff; /* linear stiffness 0..1 */
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float m_soft_angStiff; /* angular stiffness 0..1 */
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float m_soft_volume; /* volume preservation 0..1 */
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int m_soft_viterations; /* Velocities solver iterations */
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int m_soft_piterations; /* Positions solver iterations */
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int m_soft_diterations; /* Drift solver iterations */
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int m_soft_citerations; /* Cluster solver iterations */
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float m_soft_kSRHR_CL; /* Soft vs rigid hardness [0,1] (cluster only) */
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float m_soft_kSKHR_CL; /* Soft vs kinetic hardness [0,1] (cluster only) */
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float m_soft_kSSHR_CL; /* Soft vs soft hardness [0,1] (cluster only) */
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float m_soft_kSR_SPLT_CL; /* Soft vs rigid impulse split [0,1] (cluster only) */
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float m_soft_kSK_SPLT_CL; /* Soft vs rigid impulse split [0,1] (cluster only) */
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float m_soft_kSS_SPLT_CL; /* Soft vs rigid impulse split [0,1] (cluster only) */
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float m_soft_kVCF; /* Velocities correction factor (Baumgarte) */
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float m_soft_kDP; /* Damping coefficient [0,1] */
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float m_soft_kDG; /* Drag coefficient [0,+inf] */
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float m_soft_kLF; /* Lift coefficient [0,+inf] */
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float m_soft_kPR; /* Pressure coefficient [-inf,+inf] */
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float m_soft_kVC; /* Volume conversation coefficient [0,+inf] */
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float m_soft_kDF; /* Dynamic friction coefficient [0,1] */
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float m_soft_kMT; /* Pose matching coefficient [0,1] */
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float m_soft_kCHR; /* Rigid contacts hardness [0,1] */
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float m_soft_kKHR; /* Kinetic contacts hardness [0,1] */
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float m_soft_kSHR; /* Soft contacts hardness [0,1] */
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float m_soft_kAHR; /* Anchors hardness [0,1] */
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int m_soft_collisionflags; /* Vertex/Face or Signed Distance Field(SDF) or Clusters, Soft versus Soft or Rigid */
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int m_soft_numclusteriterations; /* number of iterations to refine collision clusters*/
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///////////////////
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int m_collisionFlags;
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bool m_bRigid;
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bool m_bSoft;
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bool m_bSensor;
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bool m_bGimpact; // use Gimpact for mesh body
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///optional use of collision group/mask:
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///only collision with object goups that match the collision mask.
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///this is very basic early out. advanced collision filtering should be
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///done in the btCollisionDispatcher::NeedsCollision and NeedsResponse
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///both values default to 1
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short int m_collisionFilterGroup;
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short int m_collisionFilterMask;
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///these pointers are used as argument passing for the CcdPhysicsController constructor
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///and not anymore after that
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class btCollisionShape* m_collisionShape;
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class PHY_IMotionState* m_MotionState;
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class CcdShapeConstructionInfo* m_shapeInfo;
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CcdPhysicsEnvironment* m_physicsEnv; //needed for self-replication
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float m_inertiaFactor;//tweak the inertia (hooked up to Blender 'formfactor'
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bool m_do_anisotropic;
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btVector3 m_anisotropicFriction;
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bool m_do_fh; ///< Should the object have a linear Fh spring?
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bool m_do_rot_fh; ///< Should the object have an angular Fh spring?
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btScalar m_fh_spring; ///< Spring constant (both linear and angular)
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btScalar m_fh_damping; ///< Damping factor (linear and angular) in range [0, 1]
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btScalar m_fh_distance; ///< The range above the surface where Fh is active.
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bool m_fh_normal; ///< Should the object slide off slopes?
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float m_radius;//for fh backwards compatibility
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///m_contactProcessingThreshold allows to process contact points with positive distance
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///normally only contacts with negative distance (penetration) are solved
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///however, rigid body stacking is more stable when positive contacts are still passed into the constraint solver
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///this might sometimes lead to collisions with 'internal edges' such as a sliding character controller
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///so disable/set m_contactProcessingThreshold to zero for sliding characters etc.
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float m_contactProcessingThreshold;///< Process contacts with positive distance in range [0..INF]
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};
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class btRigidBody;
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class btCollisionObject;
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class btSoftBody;
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///CcdPhysicsController is a physics object that supports continuous collision detection and time of impact based physics resolution.
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class CcdPhysicsController : public PHY_IPhysicsController
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{
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protected:
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btCollisionObject* m_object;
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class PHY_IMotionState* m_MotionState;
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btMotionState* m_bulletMotionState;
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class btCollisionShape* m_collisionShape;
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class CcdShapeConstructionInfo* m_shapeInfo;
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friend class CcdPhysicsEnvironment; // needed when updating the controller
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//some book keeping for replication
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bool m_softbodyMappingDone;
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bool m_softBodyTransformInitialized;
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bool m_prototypeTransformInitialized;
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btTransform m_softbodyStartTrans;
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void* m_newClientInfo;
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int m_registerCount; // needed when multiple sensors use the same controller
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CcdConstructionInfo m_cci;//needed for replication
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CcdPhysicsController* m_parentCtrl;
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void GetWorldOrientation(btMatrix3x3& mat);
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void CreateRigidbody();
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bool CreateSoftbody();
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bool Register() {
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return (m_registerCount++ == 0) ? true : false;
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}
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bool Unregister() {
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return (--m_registerCount == 0) ? true : false;
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}
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void setWorldOrientation(const btMatrix3x3& mat);
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void forceWorldTransform(const btMatrix3x3& mat, const btVector3& pos);
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public:
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int m_collisionDelay;
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CcdPhysicsController (const CcdConstructionInfo& ci);
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bool DeleteControllerShape();
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bool ReplaceControllerShape(btCollisionShape *newShape);
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virtual ~CcdPhysicsController();
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CcdConstructionInfo& getConstructionInfo()
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{
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return m_cci;
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}
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const CcdConstructionInfo& getConstructionInfo() const
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{
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return m_cci;
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}
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btRigidBody* GetRigidBody();
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btCollisionObject* GetCollisionObject();
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btSoftBody* GetSoftBody();
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CcdShapeConstructionInfo* GetShapeInfo() { return m_shapeInfo; }
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btCollisionShape* GetCollisionShape() {
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return m_object->getCollisionShape();
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}
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////////////////////////////////////
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// PHY_IPhysicsController interface
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////////////////////////////////////
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/**
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SynchronizeMotionStates ynchronizes dynas, kinematic and deformable entities (and do 'late binding')
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*/
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virtual bool SynchronizeMotionStates(float time);
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/**
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WriteMotionStateToDynamics ynchronizes dynas, kinematic and deformable entities (and do 'late binding')
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*/
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virtual void WriteMotionStateToDynamics(bool nondynaonly);
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virtual void WriteDynamicsToMotionState();
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// controller replication
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virtual void PostProcessReplica(class PHY_IMotionState* motionstate,class PHY_IPhysicsController* parentctrl);
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virtual void SetPhysicsEnvironment(class PHY_IPhysicsEnvironment *env);
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// kinematic methods
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virtual void RelativeTranslate(float dlocX,float dlocY,float dlocZ,bool local);
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virtual void RelativeRotate(const float drot[9],bool local);
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virtual void getOrientation(float &quatImag0,float &quatImag1,float &quatImag2,float &quatReal);
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virtual void setOrientation(float quatImag0,float quatImag1,float quatImag2,float quatReal);
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virtual void setPosition(float posX,float posY,float posZ);
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virtual void getPosition(PHY__Vector3& pos) const;
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virtual void setScaling(float scaleX,float scaleY,float scaleZ);
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// physics methods
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virtual void ApplyTorque(float torqueX,float torqueY,float torqueZ,bool local);
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virtual void ApplyForce(float forceX,float forceY,float forceZ,bool local);
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virtual void SetAngularVelocity(float ang_velX,float ang_velY,float ang_velZ,bool local);
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virtual void SetLinearVelocity(float lin_velX,float lin_velY,float lin_velZ,bool local);
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virtual void applyImpulse(float attachX,float attachY,float attachZ, float impulseX,float impulseY,float impulseZ);
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virtual void SetActive(bool active);
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// reading out information from physics
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virtual void GetLinearVelocity(float& linvX,float& linvY,float& linvZ);
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virtual void GetAngularVelocity(float& angVelX,float& angVelY,float& angVelZ);
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virtual void GetVelocity(const float posX,const float posY,const float posZ,float& linvX,float& linvY,float& linvZ);
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virtual void getReactionForce(float& forceX,float& forceY,float& forceZ);
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// dyna's that are rigidbody are free in orientation, dyna's with non-rigidbody are restricted
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virtual void setRigidBody(bool rigid);
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|
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virtual void resolveCombinedVelocities(float linvelX,float linvelY,float linvelZ,float angVelX,float angVelY,float angVelZ);
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// clientinfo for raycasts for example
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virtual void* getNewClientInfo();
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virtual void setNewClientInfo(void* clientinfo);
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virtual PHY_IPhysicsController* GetReplica();
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|
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///There should be no 'SetCollisionFilterGroup' method, as changing this during run-time is will result in errors
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short int GetCollisionFilterGroup() const
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{
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return m_cci.m_collisionFilterGroup;
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}
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///There should be no 'SetCollisionFilterGroup' method, as changing this during run-time is will result in errors
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short int GetCollisionFilterMask() const
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{
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return m_cci.m_collisionFilterMask;
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}
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virtual void calcXform() {} ;
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virtual void SetMargin(float margin)
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{
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if (m_collisionShape)
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m_collisionShape->setMargin(btScalar(margin));
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}
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virtual float GetMargin() const
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{
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return (m_collisionShape) ? m_collisionShape->getMargin() : 0.f;
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}
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virtual float GetRadius() const
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{
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// this is not the actual shape radius, it's only used for Fh support
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return m_cci.m_radius;
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}
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virtual void SetRadius(float margin)
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|
{
|
|
if (m_collisionShape && m_collisionShape->getShapeType() == SPHERE_SHAPE_PROXYTYPE)
|
|
{
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|
btSphereShape* sphereShape = static_cast<btSphereShape*>(m_collisionShape);
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|
sphereShape->setUnscaledRadius(margin);
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|
}
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m_cci.m_radius = margin;
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}
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|
|
// velocity clamping
|
|
virtual void SetLinVelocityMin(float val)
|
|
{
|
|
m_cci.m_clamp_vel_min= val;
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|
}
|
|
virtual float GetLinVelocityMin() const
|
|
{
|
|
return m_cci.m_clamp_vel_min;
|
|
}
|
|
virtual void SetLinVelocityMax(float val)
|
|
{
|
|
m_cci.m_clamp_vel_max= val;
|
|
}
|
|
virtual float GetLinVelocityMax() const
|
|
{
|
|
return m_cci.m_clamp_vel_max;
|
|
}
|
|
|
|
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;
|
|
}
|
|
|
|
virtual const char* getName()
|
|
{
|
|
return 0;
|
|
}
|
|
|
|
#ifdef WITH_CXX_GUARDEDALLOC
|
|
public:
|
|
void *operator new(size_t num_bytes) { return MEM_mallocN(num_bytes, "GE:CcdPhysicsController"); }
|
|
void operator delete( void *mem ) { MEM_freeN(mem); }
|
|
#endif
|
|
};
|
|
|
|
|
|
|
|
|
|
///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 getWorldOrientation(float* ori);
|
|
virtual void setWorldOrientation(const float* ori);
|
|
|
|
virtual void calculateWorldTransformations();
|
|
|
|
btTransform m_worldTransform;
|
|
btVector3 m_localScaling;
|
|
|
|
|
|
#ifdef WITH_CXX_GUARDEDALLOC
|
|
public:
|
|
void *operator new(size_t num_bytes) { return MEM_mallocN(num_bytes, "GE:DefaultMotionState"); }
|
|
void operator delete( void *mem ) { MEM_freeN(mem); }
|
|
#endif
|
|
};
|
|
|
|
|
|
#endif //BULLET2_PHYSICSCONTROLLER_H
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