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BGE: Add physics constraints replication

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This patch will add a physics constraints replication for group instances
(dupli group).
It also fix crashing when when a group instance is made from a linked
group instance and both are on the active layer.

Initial patch T31443 from moerdn (Martin Sell).

Reviewers: lordloki, sergof, moguri, sybren

Reviewed By: moguri, sybren

Differential Revision: https://developer.blender.org/D658
This commit is contained in:
Thomas Szepe 2015-03-22 17:55:43 +01:00
parent 2744ce77de
commit 0b4a71b072
10 changed files with 199 additions and 75 deletions
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128
source/gameengine/Converter/BL_BlenderDataConversion.cpp
View File

@ -1741,6 +1741,16 @@ static KX_GameObject* getGameOb(STR_String busc,CListValue* sumolist)
}
static bool bl_isConstraintInList(KX_GameObject *gameobj, set<KX_GameObject*> convertedlist)
{
set<KX_GameObject*>::iterator gobit;
for (gobit = convertedlist.begin(); gobit != convertedlist.end(); gobit++) {
if ((*gobit)->GetName() == gameobj->GetName())
return true;
}
return false;
}
/* helper for BL_ConvertBlenderObjects, avoids code duplication
* note: all var names match args are passed from the caller */
static void bl_ConvertBlenderObject_Single(
@ -1900,6 +1910,12 @@ void BL_ConvertBlenderObjects(struct Main* maggie,
// is not in a separate thread.
BL_Texture::GetMaxUnits();
/* We have to ensure that group definitions are only converted once
* push all converted group members to this set.
* This will happen when a group instance is made from a linked group instance
* and both are on the active layer. */
set<KX_GameObject*> convertedlist;
if (alwaysUseExpandFraming) {
frame_type = RAS_FrameSettings::e_frame_extend;
aspect_width = canvas->GetWidth();
@ -2031,6 +2047,11 @@ void BL_ConvertBlenderObjects(struct Main* maggie,
converter,
libloading);
/* Insert object to the constraint game object list
* so we can check later if there is a instance in the scene or
* an instance and its actual group definition. */
convertedlist.insert((KX_GameObject*)gameobj->AddRef());
bool isInActiveLayer = false;
if (gameobj)
{
@ -2270,93 +2291,50 @@ void BL_ConvertBlenderObjects(struct Main* maggie,
// create physics joints
for (i=0;i<sumolist->GetCount();i++)
{
KX_GameObject* gameobj = (KX_GameObject*) sumolist->GetValue(i);
struct Object* blenderobject = gameobj->GetBlenderObject();
ListBase *conlist;
PHY_IPhysicsEnvironment *physEnv = kxscene->GetPhysicsEnvironment();
KX_GameObject *gameobj = (KX_GameObject *)sumolist->GetValue(i);
struct Object *blenderobject = gameobj->GetBlenderObject();
ListBase *conlist = get_active_constraints2(blenderobject);
bConstraint *curcon;
if ((gameobj->GetLayer()&activeLayerBitInfo)==0)
if (!conlist)
continue;
conlist = get_active_constraints2(blenderobject);
if (conlist) {
for (curcon = (bConstraint *)conlist->first; curcon; curcon = (bConstraint *)curcon->next) {
if (curcon->type==CONSTRAINT_TYPE_RIGIDBODYJOINT) {
for (curcon = (bConstraint *)conlist->first; curcon; curcon = (bConstraint *)curcon->next) {
if (curcon->type != CONSTRAINT_TYPE_RIGIDBODYJOINT)
continue;
bRigidBodyJointConstraint *dat=(bRigidBodyJointConstraint *)curcon->data;
bRigidBodyJointConstraint *dat = (bRigidBodyJointConstraint *)curcon->data;
/* Skip if no target or a child object is selected or constraints are deactivated */
if (!dat->tar || dat->child || (curcon->flag & CONSTRAINT_OFF))
continue;
if (!dat->child && !(curcon->flag & CONSTRAINT_OFF)) {
/* Store constraints of grouped and instanced objects for all layers */
gameobj->AddConstraint(dat);
/* Skipped already converted constraints.
* This will happen when a group instance is made from a linked group instance
* and both are on the active layer. */
if (bl_isConstraintInList(gameobj, convertedlist))
continue;
PHY_IPhysicsController* physctr2 = 0;
KX_GameObject *gotar = getGameOb(dat->tar->id.name + 2, sumolist);
if (dat->tar) {
KX_GameObject *gotar=getGameOb(dat->tar->id.name+2,sumolist);
if (gotar && ((gotar->GetLayer()&activeLayerBitInfo)!=0) && gotar->GetPhysicsController())
physctr2 = gotar->GetPhysicsController();
}
if (gameobj->GetPhysicsController()) {
PHY_IPhysicsController* physctrl = gameobj->GetPhysicsController();
//we need to pass a full constraint frame, not just axis
//localConstraintFrameBasis
MT_Matrix3x3 localCFrame(MT_Vector3(dat->axX,dat->axY,dat->axZ));
MT_Vector3 axis0 = localCFrame.getColumn(0);
MT_Vector3 axis1 = localCFrame.getColumn(1);
MT_Vector3 axis2 = localCFrame.getColumn(2);
int constraintId = kxscene->GetPhysicsEnvironment()->CreateConstraint(physctrl,physctr2,(PHY_ConstraintType)dat->type,(float)dat->pivX,
(float)dat->pivY,(float)dat->pivZ,
(float)axis0.x(),(float)axis0.y(),(float)axis0.z(),
(float)axis1.x(),(float)axis1.y(),(float)axis1.z(),
(float)axis2.x(),(float)axis2.y(),(float)axis2.z(),dat->flag);
if (constraintId) {
//if it is a generic 6DOF constraint, set all the limits accordingly
if (dat->type == PHY_GENERIC_6DOF_CONSTRAINT) {
int dof;
int dofbit=1;
for (dof=0;dof<6;dof++) {
if (dat->flag & dofbit) {
kxscene->GetPhysicsEnvironment()->SetConstraintParam(constraintId,dof,dat->minLimit[dof],dat->maxLimit[dof]);
} else {
//minLimit > maxLimit means free(disabled limit) for this degree of freedom
kxscene->GetPhysicsEnvironment()->SetConstraintParam(constraintId,dof,1,-1);
}
dofbit<<=1;
}
} else if (dat->type == PHY_CONE_TWIST_CONSTRAINT) {
int dof;
int dofbit = 1<<3; // bitflag use_angular_limit_x
for (dof=3;dof<6;dof++) {
if (dat->flag & dofbit) {
kxscene->GetPhysicsEnvironment()->SetConstraintParam(constraintId,dof,dat->minLimit[dof],dat->maxLimit[dof]);
} else {
//maxLimit < 0 means free(disabled limit) for this degree of freedom
kxscene->GetPhysicsEnvironment()->SetConstraintParam(constraintId,dof,1,-1);
}
dofbit<<=1;
}
} else if (dat->type == PHY_LINEHINGE_CONSTRAINT) {
int dof = 3; // dof for angular x
int dofbit = 1<<3; // bitflag use_angular_limit_x
if (dat->flag & dofbit) {
kxscene->GetPhysicsEnvironment()->SetConstraintParam(constraintId,dof,
dat->minLimit[dof],dat->maxLimit[dof]);
} else {
//minLimit > maxLimit means free(disabled limit) for this degree of freedom
kxscene->GetPhysicsEnvironment()->SetConstraintParam(constraintId,dof,1,-1);
}
}
}
}
}
}
if (gotar && (gotar->GetLayer()&activeLayerBitInfo) && gotar->GetPhysicsController() &&
(gameobj->GetLayer()&activeLayerBitInfo) && gameobj->GetPhysicsController())
{
physEnv->SetupObjectConstraints(gameobj, gotar, dat);
}
}
}
/* cleanup converted set of group objects */
set<KX_GameObject*>::iterator gobit;
for (gobit = convertedlist.begin(); gobit != convertedlist.end(); gobit++)
(*gobit)->Release();
convertedlist.clear();
sumolist->Release();
// convert world

15
source/gameengine/Ketsji/KX_GameObject.cpp
View File

@ -292,6 +292,21 @@ void KX_GameObject::SetDupliGroupObject(KX_GameObject* obj)
m_pDupliGroupObject = obj;
}
void KX_GameObject::AddConstraint(bRigidBodyJointConstraint *cons)
{
m_constraints.push_back(cons);
}
std::vector<bRigidBodyJointConstraint*> KX_GameObject::GetConstraints()
{
return m_constraints;
}
void KX_GameObject::ClearConstraints()
{
m_constraints.clear();
}
KX_GameObject* KX_GameObject::GetParent()
{
KX_GameObject* result = NULL;

10
source/gameengine/Ketsji/KX_GameObject.h
View File

@ -49,6 +49,7 @@
#include "CTR_HashedPtr.h"
#include "KX_Scene.h"
#include "KX_KetsjiEngine.h" /* for m_anim_framerate */
#include "DNA_constraint_types.h" /* for constraint replication */
#include "DNA_object_types.h"
#include "SCA_LogicManager.h" /* for ConvertPythonToGameObject to search object names */
@ -117,6 +118,7 @@ protected:
SG_Node* m_pSGNode;
MT_CmMatrix4x4 m_OpenGL_4x4Matrix;
std::vector<bRigidBodyJointConstraint*> m_constraints;
KX_ObstacleSimulation* m_pObstacleSimulation;
@ -193,6 +195,14 @@ public:
void
UpdateBlenderObjectMatrix(Object* blendobj=NULL);
/**
* Used for constraint replication for group instances.
* The list of constraints is filled during data conversion.
*/
void AddConstraint(bRigidBodyJointConstraint *cons);
std::vector<bRigidBodyJointConstraint*> GetConstraints();
void ClearConstraints();
/**
* Get a pointer to the game object that is the parent of
* this object. Or NULL if there is no parent. The returned

6
source/gameengine/Ketsji/KX_Scene.cpp
View File

@ -848,6 +848,12 @@ void KX_Scene::DupliGroupRecurse(CValue* obj, int level)
// now look if object in the hierarchy have dupli group and recurse
for (git = m_logicHierarchicalGameObjects.begin();!(git==m_logicHierarchicalGameObjects.end());++git)
{
/* Replicate all constraints. */
if ((*git)->GetPhysicsController()) {
(*git)->GetPhysicsController()->ReplicateConstraints((*git), m_logicHierarchicalGameObjects);
(*git)->ClearConstraints();
}
if ((*git) != groupobj && (*git)->IsDupliGroup())
// can't instantiate group immediately as it destroys m_logicHierarchicalGameObjects
duplilist.push_back((*git));

25
source/gameengine/Physics/Bullet/CcdPhysicsController.cpp
View File

@ -1740,6 +1740,31 @@ bool CcdPhysicsController::ReinstancePhysicsShape(KX_GameObject *from_gameobj, R
return true;
}
void CcdPhysicsController::ReplicateConstraints(KX_GameObject *replica, std::vector<KX_GameObject*> constobj)
{
if (replica->GetConstraints().size() == 0 || !replica->GetPhysicsController())
return;
PHY_IPhysicsEnvironment *physEnv = GetPhysicsEnvironment();
vector<bRigidBodyJointConstraint*> constraints = replica->GetConstraints();
vector<bRigidBodyJointConstraint*>::iterator consit;
/* Object could have some constraints, iterate over all of theme to ensure that every constraint is recreated. */
for (consit = constraints.begin(); consit != constraints.end(); ++consit) {
/* Try to find the constraint targets in the list of group objects. */
bRigidBodyJointConstraint *dat = (*consit);
vector<KX_GameObject*>::iterator memit;
for (memit = constobj.begin(); memit != constobj.end(); ++memit) {
KX_GameObject *member = (*memit);
/* If the group member is the actual target for the constraint. */
if (dat->tar->id.name + 2 == member->GetName() && member->GetPhysicsController())
physEnv->SetupObjectConstraints(replica, member, dat);
}
}
}
///////////////////////////////////////////////////////////
///A small utility class, DefaultMotionState
///

3
source/gameengine/Physics/Bullet/CcdPhysicsController.h
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@ -719,6 +719,9 @@ protected:
virtual bool ReinstancePhysicsShape(KX_GameObject *from_gameobj, RAS_MeshObject* from_meshobj);
/* Method to replicate rigid body joint contraints for group instances. */
virtual void ReplicateConstraints(KX_GameObject *gameobj, std::vector<KX_GameObject*> constobj);
#ifdef WITH_CXX_GUARDEDALLOC
MEM_CXX_CLASS_ALLOC_FUNCS("GE:CcdPhysicsController")
#endif

76
source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.cpp
View File

@ -3599,3 +3599,79 @@ void CcdPhysicsEnvironment::ConvertObject(KX_GameObject *gameobj, RAS_MeshObject
}
#endif
}
void CcdPhysicsEnvironment::SetupObjectConstraints(KX_GameObject *obj_src, KX_GameObject *obj_dest,
bRigidBodyJointConstraint *dat)
{
PHY_IPhysicsController *phy_src = obj_src->GetPhysicsController();
PHY_IPhysicsController *phy_dest = obj_dest->GetPhysicsController();
PHY_IPhysicsEnvironment *phys_env = obj_src->GetScene()->GetPhysicsEnvironment();
/* We need to pass a full constraint frame, not just axis. */
MT_Matrix3x3 localCFrame(MT_Vector3(dat->axX,dat->axY,dat->axZ));
MT_Vector3 axis0 = localCFrame.getColumn(0);
MT_Vector3 axis1 = localCFrame.getColumn(1);
MT_Vector3 axis2 = localCFrame.getColumn(2);
MT_Vector3 scale = obj_src->NodeGetWorldScaling();
/* Apply not only the pivot and axis values, but also take scale into count
* this is not working well, if only one or two axis are scaled, but works ok on
* homogeneous scaling. */
int constraintId = phys_env->CreateConstraint(
phy_src, phy_dest, (PHY_ConstraintType)dat->type,
(float)(dat->pivX * scale.x()), (float)(dat->pivY * scale.y()), (float)(dat->pivZ * scale.z()),
(float)(axis0.x() * scale.x()), (float)(axis0.y() * scale.y()), (float)(axis0.z() * scale.z()),
(float)(axis1.x() * scale.x()), (float)(axis1.y() * scale.y()), (float)(axis1.z() * scale.z()),
(float)(axis2.x() * scale.x()), (float)(axis2.y() * scale.y()), (float)(axis2.z() * scale.z()),
dat->flag);
/* PHY_POINT2POINT_CONSTRAINT = 1,
* PHY_LINEHINGE_CONSTRAINT = 2,
* PHY_ANGULAR_CONSTRAINT = 3,
* PHY_CONE_TWIST_CONSTRAINT = 4,
* PHY_VEHICLE_CONSTRAINT = 11,
* PHY_GENERIC_6DOF_CONSTRAINT = 12 */
if (!constraintId)
return;
int dof = 0;
int dof_max = 0;
int dofbit = 0;
switch (dat->type) {
/* Set all the limits for generic 6DOF constraint. */
case PHY_GENERIC_6DOF_CONSTRAINT:
dof_max = 6;
dofbit = 1;
break;
/* Set XYZ angular limits for cone twist constraint. */
case PHY_CONE_TWIST_CONSTRAINT:
dof = 3;
dof_max = 6;
dofbit = 1 << 3;
break;
/* Set only X angular limits for line hinge and angular constraint. */
case PHY_LINEHINGE_CONSTRAINT:
case PHY_ANGULAR_CONSTRAINT:
dof = 3;
dof_max = 4;
dofbit = 1 << 3;
break;
default:
break;
}
for (dof; dof < dof_max; dof++) {
if (dat->flag & dofbit) {
phys_env->SetConstraintParam(constraintId, dof, dat->minLimit[dof], dat->maxLimit[dof]);
}
else {
/* minLimit > maxLimit means free (no limit) for this degree of freedom. */
phys_env->SetConstraintParam(constraintId, dof, 1.0f, -1.0f);
}
dofbit <<= 1;
}
}

4
source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.h
View File

@ -275,6 +275,10 @@ protected:
bool isCompoundChild,
bool hasCompoundChildren);
/* Set the rigid body joints constraints values for converted objects and replicated group instances. */
virtual void SetupObjectConstraints(KX_GameObject *obj_src, KX_GameObject *obj_dest,
bRigidBodyJointConstraint *dat);
protected:

3
source/gameengine/Physics/common/PHY_IPhysicsController.h
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@ -32,6 +32,7 @@
#ifndef __PHY_IPHYSICSCONTROLLER_H__
#define __PHY_IPHYSICSCONTROLLER_H__
#include <vector>
#include "PHY_IController.h"
class PHY_IMotionState;
@ -135,6 +136,8 @@ class PHY_IPhysicsController : public PHY_IController
virtual bool ReinstancePhysicsShape(KX_GameObject *from_gameobj, RAS_MeshObject* from_meshobj) = 0;
/* Method to replicate rigid body joint contraints for group instances. */
virtual void ReplicateConstraints(KX_GameObject *gameobj, std::vector<KX_GameObject*> constobj) = 0;
#ifdef WITH_CXX_GUARDEDALLOC
MEM_CXX_CLASS_ALLOC_FUNCS("GE:PHY_IPhysicsController")

4
source/gameengine/Physics/common/PHY_IPhysicsEnvironment.h
View File

@ -55,6 +55,7 @@ class KX_Scene;
struct PHY_ShapeProps;
struct PHY_MaterialProps;
class PHY_IMotionState;
struct bRigidBodyJointConstraint;
/**
* pass back information from rayTest
@ -213,6 +214,9 @@ class PHY_IPhysicsEnvironment
bool isCompoundChild,
bool hasCompoundChildren) = 0;
/* Set the rigid body joints constraints values for converted objects and replicated group instances. */
virtual void SetupObjectConstraints(KX_GameObject *obj_src, KX_GameObject *obj_dest,
bRigidBodyJointConstraint *dat) {}
#ifdef WITH_CXX_GUARDEDALLOC
MEM_CXX_CLASS_ALLOC_FUNCS("GE:PHY_IPhysicsEnvironment")