forked from bartvdbraak/blender
3ea1c1b4b6
A new type of "Sensor" physics object is available in the GE for advanced collision management. It's called Sensor for its similarities with the physics objects that underlie the Near and Radar sensors. Like the Near and Radar object it is: - static and ghost - invisible by default - always active to ensure correct collision detection - capable of detecting both static and dynamic objects - ignoring collision with their parent - capable of broadphase filtering based on: * Actor option: the collisioning object must have the Actor flag set to be detected * property/material: as specified in the collision sensors attached to it Broadphase filtering is important for performance reason: the collision points will be computed only for the objects that pass the broahphase filter. - automatically removed from the simulation when no collision sensor is active on it Unlike the Near and Radar object it can: - take any shape, including triangle mesh - be made visible for debugging (just use the Visible actuator) - have multiple collision sensors using it Other than that, the sensor objects are ordinary objects. You can move them freely or parent them. When parented to a dynamic object, they can provide advanced collision control to this object. The type of collision capability depends on the shape: - box, sphere, cylinder, cone, convex hull provide volume detection. - triangle mesh provides surface detection but you can give some volume to the suface by increasing the margin in the Advanced Settings panel. The margin applies on both sides of the surface. Performance tip: - Sensor objects perform better than Near and Radar: they do less synchronizations because of the Scenegraph optimizations and they can have multiple collision sensors on them (with different property filtering for example). - Always prefer simple shape (box, sphere) to complex shape whenever possible. - Always use broadphase filtering (avoid collision sensor with empty propery/material) - Use collision sensor only when you need them. When no collision sensor is active on the sensor object, it is removed from the simulation and consume no CPU. Known limitations: - When running Blender in debug mode, you will see one warning line of the console: "warning btCollisionDispatcher::needsCollision: static-static collision!" In release mode this message is not printed. - Collision margin has no effect on sphere, cone and cylinder shape. Other performance improvements: - Remove unnecessary interpolation for Near and Radar objects and by extension sensor objects. - Use direct matrix copy instead of quaternion to synchronize orientation. Other bug fix: - Fix Near/Radar position error on newly activated objects. This was causing several detection problems in YoFrankie - Fix margin not passed correctly to gImpact shape. - Disable force/velocity actions on static objects
123 lines
4.0 KiB
C++
123 lines
4.0 KiB
C++
/**
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* $Id$
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*
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* ***** BEGIN GPL LICENSE BLOCK *****
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*
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* This program is free software; you can redistribute it and/or
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* modify it under the terms of the GNU General Public License
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* as published by the Free Software Foundation; either version 2
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* of the License, or (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this program; if not, write to the Free Software Foundation,
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* Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
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*
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* The Original Code is Copyright (C) 2001-2002 by NaN Holding BV.
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* All rights reserved.
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*
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* The Original Code is: all of this file.
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*
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* Contributor(s): none yet.
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*
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* ***** END GPL LICENSE BLOCK *****
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*/
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#ifndef __KX_SUMOPHYSICSCONTROLLER_H
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#define __KX_SUMOPHYSICSCONTROLLER_H
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#include "PHY_IPhysicsController.h"
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/**
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Physics Controller, a special kind of Scene Graph Transformation Controller.
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It get's callbacks from Sumo in case a transformation change took place.
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Each time the scene graph get's updated, the controller get's a chance
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in the 'Update' method to reflect changed.
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*/
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#include "SumoPhysicsController.h"
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#include "KX_IPhysicsController.h"
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class KX_SumoPhysicsController : public KX_IPhysicsController,
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public SumoPhysicsController
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{
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public:
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KX_SumoPhysicsController(
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class SM_Scene* sumoScene,
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class SM_Object* sumoObj,
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class PHY_IMotionState* motionstate
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,bool dyna)
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: KX_IPhysicsController(dyna,false,false,NULL) ,
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SumoPhysicsController(sumoScene,/*solidscene,*/sumoObj,motionstate,dyna)
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{
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};
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virtual ~KX_SumoPhysicsController();
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void applyImpulse(const MT_Point3& attach, const MT_Vector3& impulse);
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virtual void SetObject (SG_IObject* object);
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virtual void setMargin (float collisionMargin);
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void RelativeTranslate(const MT_Vector3& dloc,bool local);
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void RelativeRotate(const MT_Matrix3x3& drot,bool local);
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void ApplyTorque(const MT_Vector3& torque,bool local);
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void ApplyForce(const MT_Vector3& force,bool local);
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MT_Vector3 GetLinearVelocity();
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MT_Vector3 GetAngularVelocity() // to keep compiler happy
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{ return MT_Vector3(0.0,0.0,0.0); }
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MT_Vector3 GetVelocity(const MT_Point3& pos);
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void SetAngularVelocity(const MT_Vector3& ang_vel,bool local);
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void SetLinearVelocity(const MT_Vector3& lin_vel,bool local);
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void resolveCombinedVelocities(float linvelX,float linvelY,float linvelZ,float angVelX,float angVelY,float angVelZ);
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void SuspendDynamics(bool);
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void RestoreDynamics();
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virtual void AddCompoundChild(KX_IPhysicsController* child) { }
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virtual void RemoveCompoundChild(KX_IPhysicsController* child) { }
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virtual void getOrientation(MT_Quaternion& orn);
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virtual void setOrientation(const MT_Matrix3x3& orn);
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virtual void SetTransform() {}
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virtual void setPosition(const MT_Point3& pos);
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virtual void setScaling(const MT_Vector3& scaling);
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virtual MT_Scalar GetMass();
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virtual void SetMass(MT_Scalar newmass);
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virtual MT_Vector3 GetLocalInertia();
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virtual MT_Scalar GetRadius();
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virtual MT_Vector3 getReactionForce();
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virtual void setRigidBody(bool rigid);
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virtual float GetLinVelocityMin() { return SumoPhysicsController::GetLinVelocityMin(); }
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virtual void SetLinVelocityMin(float val) { SumoPhysicsController::SetLinVelocityMin(val); }
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virtual float GetLinVelocityMax() { return SumoPhysicsController::GetLinVelocityMax(); }
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virtual void SetLinVelocityMax(float val) { SumoPhysicsController::SetLinVelocityMax(val); }
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virtual SG_Controller* GetReplica(class SG_Node* destnode);
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void SetSumoTransform(bool nondynaonly);
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// todo: remove next line !
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virtual void SetSimulatedTime(double time);
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// call from scene graph to update
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virtual bool Update(double time);
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void
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SetOption(
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int option,
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int value
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){
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// intentionally empty
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};
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};
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#endif //__KX_SUMOPHYSICSCONTROLLER_H
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