forked from bartvdbraak/blender
962 lines
26 KiB
C++
962 lines
26 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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#include "CcdPhysicsController.h"
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#include "btBulletDynamicsCommon.h"
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#include "PHY_IMotionState.h"
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#include "CcdPhysicsEnvironment.h"
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#include "RAS_MeshObject.h"
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class BP_Proxy;
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///todo: fill all the empty CcdPhysicsController methods, hook them up to the btRigidBody class
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//'temporarily' global variables
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//float gDeactivationTime = 2.f;
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//bool gDisableDeactivation = false;
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extern float gDeactivationTime;
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extern bool gDisableDeactivation;
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float gLinearSleepingTreshold = 0.8f;
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float gAngularSleepingTreshold = 1.0f;
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btVector3 startVel(0,0,0);//-10000);
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CcdPhysicsController::CcdPhysicsController (const CcdConstructionInfo& ci)
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:m_cci(ci)
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{
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m_collisionDelay = 0;
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m_newClientInfo = 0;
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m_registerCount = 0;
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// copy pointers locally to allow smart release
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m_MotionState = ci.m_MotionState;
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m_collisionShape = ci.m_collisionShape;
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// apply scaling before creating rigid body
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m_collisionShape->setLocalScaling(m_cci.m_scaling);
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if (m_cci.m_mass)
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m_collisionShape->calculateLocalInertia(m_cci.m_mass, m_cci.m_localInertiaTensor);
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// shape info is shared, increment ref count
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m_shapeInfo = ci.m_shapeInfo;
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if (m_shapeInfo)
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m_shapeInfo->AddRef();
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m_bulletMotionState = 0;
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CreateRigidbody();
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#ifdef WIN32
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if (m_body->getInvMass())
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m_body->setLinearVelocity(startVel);
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#endif
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}
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btTransform CcdPhysicsController::GetTransformFromMotionState(PHY_IMotionState* motionState)
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{
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btTransform trans;
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float tmp[3];
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motionState->getWorldPosition(tmp[0],tmp[1],tmp[2]);
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trans.setOrigin(btVector3(tmp[0],tmp[1],tmp[2]));
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btQuaternion orn;
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motionState->getWorldOrientation(orn[0],orn[1],orn[2],orn[3]);
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trans.setRotation(orn);
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return trans;
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}
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class BlenderBulletMotionState : public btMotionState
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{
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PHY_IMotionState* m_blenderMotionState;
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public:
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BlenderBulletMotionState(PHY_IMotionState* bms)
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:m_blenderMotionState(bms)
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{
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}
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virtual void getWorldTransform(btTransform& worldTrans ) const
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{
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float pos[3];
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float quatOrn[4];
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m_blenderMotionState->getWorldPosition(pos[0],pos[1],pos[2]);
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m_blenderMotionState->getWorldOrientation(quatOrn[0],quatOrn[1],quatOrn[2],quatOrn[3]);
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worldTrans.setOrigin(btVector3(pos[0],pos[1],pos[2]));
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worldTrans.setBasis(btMatrix3x3(btQuaternion(quatOrn[0],quatOrn[1],quatOrn[2],quatOrn[3])));
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}
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virtual void setWorldTransform(const btTransform& worldTrans)
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{
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m_blenderMotionState->setWorldPosition(worldTrans.getOrigin().getX(),worldTrans.getOrigin().getY(),worldTrans.getOrigin().getZ());
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btQuaternion rotQuat = worldTrans.getRotation();
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m_blenderMotionState->setWorldOrientation(rotQuat[0],rotQuat[1],rotQuat[2],rotQuat[3]);
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m_blenderMotionState->calculateWorldTransformations();
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}
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};
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void CcdPhysicsController::CreateRigidbody()
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{
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btTransform trans = GetTransformFromMotionState(m_MotionState);
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m_bulletMotionState = new BlenderBulletMotionState(m_MotionState);
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m_body = new btRigidBody(m_cci.m_mass,
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m_bulletMotionState,
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m_collisionShape,
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m_cci.m_localInertiaTensor * m_cci.m_inertiaFactor,
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m_cci.m_linearDamping,m_cci.m_angularDamping,
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m_cci.m_friction,m_cci.m_restitution);
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//
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// init the rigidbody properly
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//
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//setMassProps this also sets collisionFlags
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//convert collision flags!
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//special case: a near/radar sensor controller should not be defined static or it will
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//generate loads of static-static collision messages on the console
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if ((m_cci.m_collisionFilterGroup & CcdConstructionInfo::SensorFilter) != 0)
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{
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// reset the flags that have been set so far
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m_body->setCollisionFlags(0);
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}
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m_body->setCollisionFlags(m_body->getCollisionFlags() | m_cci.m_collisionFlags);
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m_body->setGravity( m_cci.m_gravity);
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m_body->setDamping(m_cci.m_linearDamping, m_cci.m_angularDamping);
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if (!m_cci.m_bRigid)
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{
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m_body->setAngularFactor(0.f);
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}
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}
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static void DeleteBulletShape(btCollisionShape* shape)
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{
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if (shape->getShapeType() == TRIANGLE_MESH_SHAPE_PROXYTYPE)
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{
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// shapes based on meshes use an interface that contains the vertices.
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btTriangleMeshShape* meshShape = static_cast<btTriangleMeshShape*>(shape);
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btStridingMeshInterface* meshInterface = meshShape->getMeshInterface();
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if (meshInterface)
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delete meshInterface;
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}
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delete shape;
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}
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CcdPhysicsController::~CcdPhysicsController()
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{
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//will be reference counted, due to sharing
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if (m_cci.m_physicsEnv)
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m_cci.m_physicsEnv->removeCcdPhysicsController(this);
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if (m_MotionState)
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delete m_MotionState;
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if (m_bulletMotionState)
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delete m_bulletMotionState;
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delete m_body;
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if (m_collisionShape)
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{
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// collision shape is always unique to the controller, can delete it here
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if (m_collisionShape->isCompound())
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{
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// bullet does not delete the child shape, must do it here
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btCompoundShape* compoundShape = (btCompoundShape*)m_collisionShape;
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int numChild = compoundShape->getNumChildShapes();
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for (int i=numChild-1 ; i >= 0; i--)
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{
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btCollisionShape* childShape = compoundShape->getChildShape(i);
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DeleteBulletShape(childShape);
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}
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}
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DeleteBulletShape(m_collisionShape);
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}
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if (m_shapeInfo)
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{
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m_shapeInfo->Release();
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}
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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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bool CcdPhysicsController::SynchronizeMotionStates(float time)
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{
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//sync non-static to motionstate, and static from motionstate (todo: add kinematic etc.)
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if (!m_body->isStaticObject())
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{
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const btVector3& worldPos = m_body->getCenterOfMassPosition();
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m_MotionState->setWorldPosition(worldPos[0],worldPos[1],worldPos[2]);
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const btQuaternion& worldquat = m_body->getOrientation();
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m_MotionState->setWorldOrientation(worldquat[0],worldquat[1],worldquat[2],worldquat[3]);
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m_MotionState->calculateWorldTransformations();
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float scale[3];
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m_MotionState->getWorldScaling(scale[0],scale[1],scale[2]);
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btVector3 scaling(scale[0],scale[1],scale[2]);
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GetCollisionShape()->setLocalScaling(scaling);
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} else
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{
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btVector3 worldPos;
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btQuaternion worldquat;
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/* m_MotionState->getWorldPosition(worldPos[0],worldPos[1],worldPos[2]);
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m_MotionState->getWorldOrientation(worldquat[0],worldquat[1],worldquat[2],worldquat[3]);
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btTransform oldTrans = m_body->getCenterOfMassTransform();
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btTransform newTrans(worldquat,worldPos);
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m_body->setCenterOfMassTransform(newTrans);
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//need to keep track of previous position for friction effects...
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m_MotionState->calculateWorldTransformations();
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*/
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float scale[3];
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m_MotionState->getWorldScaling(scale[0],scale[1],scale[2]);
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btVector3 scaling(scale[0],scale[1],scale[2]);
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GetCollisionShape()->setLocalScaling(scaling);
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}
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return true;
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}
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/**
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WriteMotionStateToDynamics synchronizes dynas, kinematic and deformable entities (and do 'late binding')
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*/
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void CcdPhysicsController::WriteMotionStateToDynamics(bool nondynaonly)
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{
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}
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void CcdPhysicsController::WriteDynamicsToMotionState()
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{
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}
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// controller replication
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void CcdPhysicsController::PostProcessReplica(class PHY_IMotionState* motionstate,class PHY_IPhysicsController* parentctrl)
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{
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m_MotionState = motionstate;
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m_registerCount = 0;
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m_collisionShape = NULL;
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// always create a new shape to avoid scaling bug
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if (m_shapeInfo)
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{
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m_shapeInfo->AddRef();
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m_collisionShape = m_shapeInfo->CreateBulletShape();
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if (m_collisionShape)
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{
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// new shape has no scaling, apply initial scaling
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m_collisionShape->setLocalScaling(m_cci.m_scaling);
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if (m_cci.m_mass)
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m_collisionShape->calculateLocalInertia(m_cci.m_mass, m_cci.m_localInertiaTensor);
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}
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}
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m_body = 0;
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CreateRigidbody();
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if (m_body)
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{
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if (m_cci.m_mass)
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{
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m_body->setMassProps(m_cci.m_mass, m_cci.m_localInertiaTensor * m_cci.m_inertiaFactor);
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}
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}
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m_cci.m_physicsEnv->addCcdPhysicsController(this);
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/* SM_Object* dynaparent=0;
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SumoPhysicsController* sumoparentctrl = (SumoPhysicsController* )parentctrl;
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if (sumoparentctrl)
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{
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dynaparent = sumoparentctrl->GetSumoObject();
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}
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SM_Object* orgsumoobject = m_sumoObj;
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m_sumoObj = new SM_Object(
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orgsumoobject->getShapeHandle(),
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orgsumoobject->getMaterialProps(),
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orgsumoobject->getShapeProps(),
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dynaparent);
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m_sumoObj->setRigidBody(orgsumoobject->isRigidBody());
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m_sumoObj->setMargin(orgsumoobject->getMargin());
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m_sumoObj->setPosition(orgsumoobject->getPosition());
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m_sumoObj->setOrientation(orgsumoobject->getOrientation());
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//if it is a dyna, register for a callback
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m_sumoObj->registerCallback(*this);
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m_sumoScene->add(* (m_sumoObj));
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*/
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}
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// kinematic methods
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void CcdPhysicsController::RelativeTranslate(float dlocX,float dlocY,float dlocZ,bool local)
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{
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if (m_body)
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{
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m_body->activate(true);
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if (m_body->isStaticObject())
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{
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m_body->setCollisionFlags(m_body->getCollisionFlags() | btCollisionObject::CF_KINEMATIC_OBJECT);
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}
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btVector3 dloc(dlocX,dlocY,dlocZ);
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btTransform xform = m_body->getCenterOfMassTransform();
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if (local)
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{
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dloc = xform.getBasis()*dloc;
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}
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xform.setOrigin(xform.getOrigin() + dloc);
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m_body->setCenterOfMassTransform(xform);
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}
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}
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void CcdPhysicsController::RelativeRotate(const float rotval[9],bool local)
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{
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if (m_body)
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{
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m_body->activate(true);
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if (m_body->isStaticObject())
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{
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m_body->setCollisionFlags(m_body->getCollisionFlags() | btCollisionObject::CF_KINEMATIC_OBJECT);
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}
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btMatrix3x3 drotmat( rotval[0],rotval[4],rotval[8],
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rotval[1],rotval[5],rotval[9],
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rotval[2],rotval[6],rotval[10]);
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btMatrix3x3 currentOrn;
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GetWorldOrientation(currentOrn);
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btTransform xform = m_body->getCenterOfMassTransform();
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xform.setBasis(xform.getBasis()*(local ?
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drotmat : (currentOrn.inverse() * drotmat * currentOrn)));
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m_body->setCenterOfMassTransform(xform);
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}
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}
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void CcdPhysicsController::GetWorldOrientation(btMatrix3x3& mat)
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{
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float orn[4];
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m_MotionState->getWorldOrientation(orn[0],orn[1],orn[2],orn[3]);
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btQuaternion quat(orn[0],orn[1],orn[2],orn[3]);
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mat.setRotation(quat);
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}
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void CcdPhysicsController::getOrientation(float &quatImag0,float &quatImag1,float &quatImag2,float &quatReal)
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{
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btQuaternion q = m_body->getCenterOfMassTransform().getRotation();
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quatImag0 = q[0];
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quatImag1 = q[1];
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quatImag2 = q[2];
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quatReal = q[3];
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}
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void CcdPhysicsController::setOrientation(float quatImag0,float quatImag1,float quatImag2,float quatReal)
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{
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if (m_body)
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{
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m_body->activate(true);
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if (m_body->isStaticObject())
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{
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m_body->setCollisionFlags(m_body->getCollisionFlags() | btCollisionObject::CF_KINEMATIC_OBJECT);
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}
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// not required
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//m_MotionState->setWorldOrientation(quatImag0,quatImag1,quatImag2,quatReal);
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btTransform xform = m_body->getCenterOfMassTransform();
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xform.setRotation(btQuaternion(quatImag0,quatImag1,quatImag2,quatReal));
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m_body->setCenterOfMassTransform(xform);
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// not required
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//m_bulletMotionState->setWorldTransform(xform);
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}
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}
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void CcdPhysicsController::setWorldOrientation(const btMatrix3x3& orn)
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{
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if (m_body)
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{
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m_body->activate(true);
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if (m_body->isStaticObject())
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{
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m_body->setCollisionFlags(m_body->getCollisionFlags() | btCollisionObject::CF_KINEMATIC_OBJECT);
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}
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// not required
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//m_MotionState->setWorldOrientation(quatImag0,quatImag1,quatImag2,quatReal);
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btTransform xform = m_body->getCenterOfMassTransform();
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xform.setBasis(orn);
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m_body->setCenterOfMassTransform(xform);
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// not required
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//m_bulletMotionState->setWorldTransform(xform);
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}
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}
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void CcdPhysicsController::setPosition(float posX,float posY,float posZ)
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{
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if (m_body)
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{
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m_body->activate(true);
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if (m_body->isStaticObject())
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{
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m_body->setCollisionFlags(m_body->getCollisionFlags() | btCollisionObject::CF_KINEMATIC_OBJECT);
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}
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// not required, this function is only used to update the physic controller
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//m_MotionState->setWorldPosition(posX,posY,posZ);
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btTransform xform = m_body->getCenterOfMassTransform();
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xform.setOrigin(btVector3(posX,posY,posZ));
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m_body->setCenterOfMassTransform(xform);
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// not required
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//m_bulletMotionState->setWorldTransform(xform);
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}
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}
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void CcdPhysicsController::resolveCombinedVelocities(float linvelX,float linvelY,float linvelZ,float angVelX,float angVelY,float angVelZ)
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{
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}
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void CcdPhysicsController::getPosition(PHY__Vector3& pos) const
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{
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const btTransform& xform = m_body->getCenterOfMassTransform();
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pos[0] = xform.getOrigin().x();
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pos[1] = xform.getOrigin().y();
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pos[2] = xform.getOrigin().z();
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}
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void CcdPhysicsController::setScaling(float scaleX,float scaleY,float scaleZ)
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{
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if (!btFuzzyZero(m_cci.m_scaling.x()-scaleX) ||
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!btFuzzyZero(m_cci.m_scaling.y()-scaleY) ||
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!btFuzzyZero(m_cci.m_scaling.z()-scaleZ))
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{
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m_cci.m_scaling = btVector3(scaleX,scaleY,scaleZ);
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if (m_body && m_body->getCollisionShape())
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{
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m_body->getCollisionShape()->setLocalScaling(m_cci.m_scaling);
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//printf("no inertia recalc for fixed objects with mass=0\n");
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if (m_cci.m_mass)
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{
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m_body->getCollisionShape()->calculateLocalInertia(m_cci.m_mass, m_cci.m_localInertiaTensor);
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m_body->setMassProps(m_cci.m_mass, m_cci.m_localInertiaTensor * m_cci.m_inertiaFactor);
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}
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}
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}
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}
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// physics methods
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void CcdPhysicsController::ApplyTorque(float torqueX,float torqueY,float torqueZ,bool local)
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{
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btVector3 torque(torqueX,torqueY,torqueZ);
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btTransform xform = m_body->getCenterOfMassTransform();
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if (m_body && torque.length2() > (SIMD_EPSILON*SIMD_EPSILON))
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|
{
|
|
m_body->activate();
|
|
if (m_body->isStaticObject())
|
|
{
|
|
m_body->setCollisionFlags(m_body->getCollisionFlags() | btCollisionObject::CF_KINEMATIC_OBJECT);
|
|
}
|
|
if (local)
|
|
{
|
|
torque = xform.getBasis()*torque;
|
|
}
|
|
m_body->applyTorque(torque);
|
|
}
|
|
}
|
|
|
|
void CcdPhysicsController::ApplyForce(float forceX,float forceY,float forceZ,bool local)
|
|
{
|
|
btVector3 force(forceX,forceY,forceZ);
|
|
|
|
if (m_body && force.length2() > (SIMD_EPSILON*SIMD_EPSILON))
|
|
{
|
|
m_body->activate();
|
|
if (m_body->isStaticObject())
|
|
{
|
|
m_body->setCollisionFlags(m_body->getCollisionFlags() | btCollisionObject::CF_KINEMATIC_OBJECT);
|
|
}
|
|
{
|
|
btTransform xform = m_body->getCenterOfMassTransform();
|
|
if (local)
|
|
{
|
|
force = xform.getBasis()*force;
|
|
}
|
|
}
|
|
m_body->applyCentralForce(force);
|
|
}
|
|
}
|
|
void CcdPhysicsController::SetAngularVelocity(float ang_velX,float ang_velY,float ang_velZ,bool local)
|
|
{
|
|
btVector3 angvel(ang_velX,ang_velY,ang_velZ);
|
|
if (m_body && angvel.length2() > (SIMD_EPSILON*SIMD_EPSILON))
|
|
{
|
|
m_body->activate(true);
|
|
if (m_body->isStaticObject())
|
|
{
|
|
m_body->setCollisionFlags(m_body->getCollisionFlags() | btCollisionObject::CF_KINEMATIC_OBJECT);
|
|
}
|
|
{
|
|
btTransform xform = m_body->getCenterOfMassTransform();
|
|
if (local)
|
|
{
|
|
angvel = xform.getBasis()*angvel;
|
|
}
|
|
}
|
|
m_body->setAngularVelocity(angvel);
|
|
}
|
|
|
|
}
|
|
void CcdPhysicsController::SetLinearVelocity(float lin_velX,float lin_velY,float lin_velZ,bool local)
|
|
{
|
|
|
|
btVector3 linVel(lin_velX,lin_velY,lin_velZ);
|
|
if (m_body && linVel.length2() > (SIMD_EPSILON*SIMD_EPSILON))
|
|
{
|
|
m_body->activate(true);
|
|
if (m_body->isStaticObject())
|
|
{
|
|
m_body->setCollisionFlags(m_body->getCollisionFlags() | btCollisionObject::CF_KINEMATIC_OBJECT);
|
|
}
|
|
|
|
{
|
|
btTransform xform = m_body->getCenterOfMassTransform();
|
|
if (local)
|
|
{
|
|
linVel = xform.getBasis()*linVel;
|
|
}
|
|
}
|
|
m_body->setLinearVelocity(linVel);
|
|
}
|
|
}
|
|
void CcdPhysicsController::applyImpulse(float attachX,float attachY,float attachZ, float impulseX,float impulseY,float impulseZ)
|
|
{
|
|
btVector3 impulse(impulseX,impulseY,impulseZ);
|
|
|
|
if (m_body && impulse.length2() > (SIMD_EPSILON*SIMD_EPSILON))
|
|
{
|
|
m_body->activate();
|
|
if (m_body->isStaticObject())
|
|
{
|
|
m_body->setCollisionFlags(m_body->getCollisionFlags() | btCollisionObject::CF_KINEMATIC_OBJECT);
|
|
}
|
|
|
|
btVector3 pos(attachX,attachY,attachZ);
|
|
|
|
m_body->applyImpulse(impulse,pos);
|
|
}
|
|
|
|
}
|
|
void CcdPhysicsController::SetActive(bool active)
|
|
{
|
|
}
|
|
// reading out information from physics
|
|
void CcdPhysicsController::GetLinearVelocity(float& linvX,float& linvY,float& linvZ)
|
|
{
|
|
const btVector3& linvel = this->m_body->getLinearVelocity();
|
|
linvX = linvel.x();
|
|
linvY = linvel.y();
|
|
linvZ = linvel.z();
|
|
|
|
}
|
|
|
|
void CcdPhysicsController::GetAngularVelocity(float& angVelX,float& angVelY,float& angVelZ)
|
|
{
|
|
const btVector3& angvel= m_body->getAngularVelocity();
|
|
angVelX = angvel.x();
|
|
angVelY = angvel.y();
|
|
angVelZ = angvel.z();
|
|
}
|
|
|
|
void CcdPhysicsController::GetVelocity(const float posX,const float posY,const float posZ,float& linvX,float& linvY,float& linvZ)
|
|
{
|
|
btVector3 pos(posX,posY,posZ);
|
|
btVector3 rel_pos = pos-m_body->getCenterOfMassPosition();
|
|
btVector3 linvel = m_body->getVelocityInLocalPoint(rel_pos);
|
|
linvX = linvel.x();
|
|
linvY = linvel.y();
|
|
linvZ = linvel.z();
|
|
}
|
|
void CcdPhysicsController::getReactionForce(float& forceX,float& forceY,float& forceZ)
|
|
{
|
|
}
|
|
|
|
// dyna's that are rigidbody are free in orientation, dyna's with non-rigidbody are restricted
|
|
void CcdPhysicsController::setRigidBody(bool rigid)
|
|
{
|
|
if (!rigid)
|
|
{
|
|
//fake it for now
|
|
btVector3 inertia = m_body->getInvInertiaDiagLocal();
|
|
inertia[1] = 0.f;
|
|
m_body->setInvInertiaDiagLocal(inertia);
|
|
m_body->updateInertiaTensor();
|
|
}
|
|
}
|
|
|
|
// clientinfo for raycasts for example
|
|
void* CcdPhysicsController::getNewClientInfo()
|
|
{
|
|
return m_newClientInfo;
|
|
}
|
|
void CcdPhysicsController::setNewClientInfo(void* clientinfo)
|
|
{
|
|
m_newClientInfo = clientinfo;
|
|
}
|
|
|
|
|
|
void CcdPhysicsController::UpdateDeactivation(float timeStep)
|
|
{
|
|
m_body->updateDeactivation( timeStep);
|
|
}
|
|
|
|
bool CcdPhysicsController::wantsSleeping()
|
|
{
|
|
|
|
return m_body->wantsSleeping();
|
|
}
|
|
|
|
PHY_IPhysicsController* CcdPhysicsController::GetReplica()
|
|
{
|
|
// This is used only to replicate Near and Radar sensor controllers
|
|
// The replication of object physics controller is done in KX_BulletPhysicsController::GetReplica()
|
|
CcdConstructionInfo cinfo = m_cci;
|
|
if (m_shapeInfo)
|
|
{
|
|
// This situation does not normally happen
|
|
cinfo.m_collisionShape = m_shapeInfo->CreateBulletShape();
|
|
}
|
|
else if (m_collisionShape)
|
|
{
|
|
switch (m_collisionShape->getShapeType())
|
|
{
|
|
case SPHERE_SHAPE_PROXYTYPE:
|
|
{
|
|
btSphereShape* orgShape = (btSphereShape*)m_collisionShape;
|
|
cinfo.m_collisionShape = new btSphereShape(*orgShape);
|
|
break;
|
|
}
|
|
|
|
case CONE_SHAPE_PROXYTYPE:
|
|
{
|
|
btConeShape* orgShape = (btConeShape*)m_collisionShape;
|
|
cinfo.m_collisionShape = new btConeShape(*orgShape);
|
|
break;
|
|
}
|
|
|
|
default:
|
|
{
|
|
return 0;
|
|
}
|
|
}
|
|
}
|
|
|
|
cinfo.m_MotionState = new DefaultMotionState();
|
|
cinfo.m_shapeInfo = m_shapeInfo;
|
|
|
|
CcdPhysicsController* replica = new CcdPhysicsController(cinfo);
|
|
return replica;
|
|
}
|
|
|
|
///////////////////////////////////////////////////////////
|
|
///A small utility class, DefaultMotionState
|
|
///
|
|
///////////////////////////////////////////////////////////
|
|
|
|
DefaultMotionState::DefaultMotionState()
|
|
{
|
|
m_worldTransform.setIdentity();
|
|
m_localScaling.setValue(1.f,1.f,1.f);
|
|
}
|
|
|
|
|
|
DefaultMotionState::~DefaultMotionState()
|
|
{
|
|
|
|
}
|
|
|
|
void DefaultMotionState::getWorldPosition(float& posX,float& posY,float& posZ)
|
|
{
|
|
posX = m_worldTransform.getOrigin().x();
|
|
posY = m_worldTransform.getOrigin().y();
|
|
posZ = m_worldTransform.getOrigin().z();
|
|
}
|
|
|
|
void DefaultMotionState::getWorldScaling(float& scaleX,float& scaleY,float& scaleZ)
|
|
{
|
|
scaleX = m_localScaling.getX();
|
|
scaleY = m_localScaling.getY();
|
|
scaleZ = m_localScaling.getZ();
|
|
}
|
|
|
|
void DefaultMotionState::getWorldOrientation(float& quatIma0,float& quatIma1,float& quatIma2,float& quatReal)
|
|
{
|
|
quatIma0 = m_worldTransform.getRotation().x();
|
|
quatIma1 = m_worldTransform.getRotation().y();
|
|
quatIma2 = m_worldTransform.getRotation().z();
|
|
quatReal = m_worldTransform.getRotation()[3];
|
|
}
|
|
|
|
void DefaultMotionState::setWorldPosition(float posX,float posY,float posZ)
|
|
{
|
|
btPoint3 pos(posX,posY,posZ);
|
|
m_worldTransform.setOrigin( pos );
|
|
}
|
|
|
|
void DefaultMotionState::setWorldOrientation(float quatIma0,float quatIma1,float quatIma2,float quatReal)
|
|
{
|
|
btQuaternion orn(quatIma0,quatIma1,quatIma2,quatReal);
|
|
m_worldTransform.setRotation( orn );
|
|
}
|
|
|
|
void DefaultMotionState::calculateWorldTransformations()
|
|
{
|
|
|
|
}
|
|
|
|
// Shape constructor
|
|
bool CcdShapeConstructionInfo::SetMesh(RAS_MeshObject* meshobj, bool polytope)
|
|
{
|
|
// assume no shape information
|
|
m_shapeType = PHY_SHAPE_NONE;
|
|
m_vertexArray.clear();
|
|
|
|
if (!meshobj)
|
|
return false;
|
|
|
|
// Mesh has no polygons!
|
|
int numpolys = meshobj->NumPolygons();
|
|
if (!numpolys)
|
|
{
|
|
return false;
|
|
}
|
|
|
|
// check that we have at least one colliding polygon
|
|
int numvalidpolys = 0;
|
|
|
|
for (int p=0; p<numpolys; p++)
|
|
{
|
|
RAS_Polygon* poly = meshobj->GetPolygon(p);
|
|
|
|
// only add polygons that have the collisionflag set
|
|
if (poly->IsCollider())
|
|
{
|
|
numvalidpolys++;
|
|
break;
|
|
}
|
|
}
|
|
|
|
// No collision polygons
|
|
if (numvalidpolys < 1)
|
|
return false;
|
|
|
|
m_shapeType = (polytope) ? PHY_SHAPE_POLYTOPE : PHY_SHAPE_MESH;
|
|
|
|
numvalidpolys = 0;
|
|
|
|
for (int p2=0; p2<numpolys; p2++)
|
|
{
|
|
RAS_Polygon* poly = meshobj->GetPolygon(p2);
|
|
|
|
// only add polygons that have the collisionflag set
|
|
if (poly->IsCollider())
|
|
{
|
|
//Bullet can raycast any shape, so
|
|
if (polytope)
|
|
{
|
|
for (int i=0;i<poly->VertexCount();i++)
|
|
{
|
|
const float* vtx = meshobj->GetVertex(poly->GetVertexIndexBase().m_vtxarray,
|
|
poly->GetVertexIndexBase().m_indexarray[i],
|
|
poly->GetMaterial()->GetPolyMaterial())->getLocalXYZ();
|
|
btPoint3 point(vtx[0],vtx[1],vtx[2]);
|
|
m_vertexArray.push_back(point);
|
|
numvalidpolys++;
|
|
}
|
|
} else
|
|
{
|
|
{
|
|
const float* vtx = meshobj->GetVertex(poly->GetVertexIndexBase().m_vtxarray,
|
|
poly->GetVertexIndexBase().m_indexarray[2],
|
|
poly->GetMaterial()->GetPolyMaterial())->getLocalXYZ();
|
|
btPoint3 vertex0(vtx[0],vtx[1],vtx[2]);
|
|
vtx = meshobj->GetVertex(poly->GetVertexIndexBase().m_vtxarray,
|
|
poly->GetVertexIndexBase().m_indexarray[1],
|
|
poly->GetMaterial()->GetPolyMaterial())->getLocalXYZ();
|
|
btPoint3 vertex1(vtx[0],vtx[1],vtx[2]);
|
|
vtx = meshobj->GetVertex(poly->GetVertexIndexBase().m_vtxarray,
|
|
poly->GetVertexIndexBase().m_indexarray[0],
|
|
poly->GetMaterial()->GetPolyMaterial())->getLocalXYZ();
|
|
btPoint3 vertex2(vtx[0],vtx[1],vtx[2]);
|
|
m_vertexArray.push_back(vertex0);
|
|
m_vertexArray.push_back(vertex1);
|
|
m_vertexArray.push_back(vertex2);
|
|
numvalidpolys++;
|
|
}
|
|
if (poly->VertexCount() == 4)
|
|
{
|
|
const float* vtx = meshobj->GetVertex(poly->GetVertexIndexBase().m_vtxarray,
|
|
poly->GetVertexIndexBase().m_indexarray[3],
|
|
poly->GetMaterial()->GetPolyMaterial())->getLocalXYZ();
|
|
btPoint3 vertex0(vtx[0],vtx[1],vtx[2]);
|
|
vtx = meshobj->GetVertex(poly->GetVertexIndexBase().m_vtxarray,
|
|
poly->GetVertexIndexBase().m_indexarray[2],
|
|
poly->GetMaterial()->GetPolyMaterial())->getLocalXYZ();
|
|
btPoint3 vertex1(vtx[0],vtx[1],vtx[2]);
|
|
vtx = meshobj->GetVertex(poly->GetVertexIndexBase().m_vtxarray,
|
|
poly->GetVertexIndexBase().m_indexarray[0],
|
|
poly->GetMaterial()->GetPolyMaterial())->getLocalXYZ();
|
|
btPoint3 vertex2(vtx[0],vtx[1],vtx[2]);
|
|
m_vertexArray.push_back(vertex0);
|
|
m_vertexArray.push_back(vertex1);
|
|
m_vertexArray.push_back(vertex2);
|
|
numvalidpolys++;
|
|
}
|
|
}
|
|
}
|
|
}
|
|
|
|
if (!numvalidpolys)
|
|
{
|
|
// should not happen
|
|
m_shapeType = PHY_SHAPE_NONE;
|
|
return false;
|
|
}
|
|
return true;
|
|
}
|
|
|
|
btCollisionShape* CcdShapeConstructionInfo::CreateBulletShape()
|
|
{
|
|
btCollisionShape* collisionShape = 0;
|
|
btTriangleMeshShape* concaveShape = 0;
|
|
btTriangleMesh* collisionMeshData = 0;
|
|
btCompoundShape* compoundShape = 0;
|
|
CcdShapeConstructionInfo* nextShapeInfo;
|
|
|
|
switch (m_shapeType)
|
|
{
|
|
case PHY_SHAPE_NONE:
|
|
break;
|
|
|
|
case PHY_SHAPE_BOX:
|
|
collisionShape = new btBoxShape(m_halfExtend);
|
|
break;
|
|
|
|
case PHY_SHAPE_SPHERE:
|
|
collisionShape = new btSphereShape(m_radius);
|
|
break;
|
|
|
|
case PHY_SHAPE_CYLINDER:
|
|
collisionShape = new btCylinderShapeZ(m_halfExtend);
|
|
break;
|
|
|
|
case PHY_SHAPE_CONE:
|
|
collisionShape = new btConeShapeZ(m_radius, m_height);
|
|
break;
|
|
|
|
case PHY_SHAPE_POLYTOPE:
|
|
collisionShape = new btConvexHullShape(&m_vertexArray.begin()->getX(), m_vertexArray.size());
|
|
break;
|
|
|
|
case PHY_SHAPE_MESH:
|
|
collisionMeshData = new btTriangleMesh();
|
|
// m_vertexArray is necessarily a multiple of 3
|
|
for (std::vector<btPoint3>::iterator it=m_vertexArray.begin(); it != m_vertexArray.end(); )
|
|
{
|
|
collisionMeshData->addTriangle(*it++,*it++,*it++);
|
|
}
|
|
concaveShape = new btBvhTriangleMeshShape( collisionMeshData, true );
|
|
concaveShape->recalcLocalAabb();
|
|
collisionShape = concaveShape;
|
|
break;
|
|
|
|
case PHY_SHAPE_COMPOUND:
|
|
if (m_nextShape)
|
|
{
|
|
compoundShape = new btCompoundShape();
|
|
for (nextShapeInfo=m_nextShape; nextShapeInfo; nextShapeInfo = nextShapeInfo->m_nextShape)
|
|
{
|
|
collisionShape = nextShapeInfo->CreateBulletShape();
|
|
if (collisionShape)
|
|
{
|
|
compoundShape->addChildShape(nextShapeInfo->m_childTrans, collisionShape);
|
|
}
|
|
}
|
|
collisionShape = compoundShape;
|
|
}
|
|
}
|
|
return collisionShape;
|
|
}
|
|
|
|
void CcdShapeConstructionInfo::AddShape(CcdShapeConstructionInfo* shapeInfo)
|
|
{
|
|
CcdShapeConstructionInfo* nextShape = this;
|
|
while (nextShape->m_nextShape != NULL)
|
|
nextShape = nextShape->m_nextShape;
|
|
nextShape->m_nextShape = shapeInfo;
|
|
}
|
|
|
|
CcdShapeConstructionInfo::~CcdShapeConstructionInfo()
|
|
{
|
|
CcdShapeConstructionInfo* childShape = m_nextShape;
|
|
|
|
while (childShape)
|
|
{
|
|
CcdShapeConstructionInfo* nextShape = childShape->m_nextShape;
|
|
childShape->m_nextShape = NULL;
|
|
childShape->Release();
|
|
childShape = nextShape;
|
|
}
|
|
|
|
m_vertexArray.clear();
|
|
}
|
|
|
|
|