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BGE patch: Optimization of bullet adaptation layer - part 1.

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First batch of optimizaton of the bullet adaptation layer in the BGE.
- remove circular motion state update.
- optimization of physic adaptation layer for bullet: bypass
  unecessary conversion of rotation matrix to quaternion and back.
- remove double updates during object replication.
This commit is contained in:
Benoit Bolsee 2008-07-21 12:37:27 +00:00
parent 8f17a66036
commit 4ae4ecd3ce
12 changed files with 57 additions and 21 deletions
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5
source/gameengine/Ketsji/KX_BulletPhysicsController.cpp
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@ -133,9 +133,10 @@ void KX_BulletPhysicsController::getOrientation(MT_Quaternion& orn)
CcdPhysicsController::getOrientation(myorn[0],myorn[1],myorn[2],myorn[3]);
orn = MT_Quaternion(myorn[0],myorn[1],myorn[2],myorn[3]);
}
void KX_BulletPhysicsController::setOrientation(const MT_Quaternion& orn)
void KX_BulletPhysicsController::setOrientation(const MT_Matrix3x3& orn)
{
CcdPhysicsController::setOrientation(orn.x(),orn.y(),orn.z(),orn.w());
btMatrix3x3 btmat(orn[0][0], orn[0][1], orn[1][2], orn[1][0], orn[1][1], orn[1][2], orn[2][0], orn[2][1], orn[2][2]);
CcdPhysicsController::setWorldOrientation(btmat);
}
void KX_BulletPhysicsController::setPosition(const MT_Point3& pos)
{

2
source/gameengine/Ketsji/KX_BulletPhysicsController.h
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@ -35,7 +35,7 @@ public:
virtual void SetAngularVelocity(const MT_Vector3& ang_vel,bool local);
virtual void SetLinearVelocity(const MT_Vector3& lin_vel,bool local);
virtual void getOrientation(MT_Quaternion& orn);
virtual void setOrientation(const MT_Quaternion& orn);
virtual void setOrientation(const MT_Matrix3x3& orn);
virtual void setPosition(const MT_Point3& pos);
virtual void setScaling(const MT_Vector3& scaling);
virtual MT_Scalar GetMass();

2
source/gameengine/Ketsji/KX_GameObject.cpp
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@ -744,7 +744,7 @@ void KX_GameObject::NodeSetLocalOrientation(const MT_Matrix3x3& rot)
if (m_pPhysicsController1 && (!GetSGNode() || !GetSGNode()->GetSGParent()))
{
// see note above
m_pPhysicsController1->setOrientation(rot.getRotation());
m_pPhysicsController1->setOrientation(rot);
}
if (GetSGNode())
GetSGNode()->SetLocalOrientation(rot);

3
source/gameengine/Ketsji/KX_IPhysicsController.h
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@ -71,7 +71,8 @@ public:
virtual void resolveCombinedVelocities(float linvelX,float linvelY,float linvelZ,float angVelX,float angVelY,float angVelZ) = 0;
virtual void getOrientation(MT_Quaternion& orn)=0;
virtual void setOrientation(const MT_Quaternion& orn)=0;
virtual void setOrientation(const MT_Matrix3x3& orn)=0;
//virtual void setOrientation(const MT_Quaternion& orn)=0;
virtual void setPosition(const MT_Point3& pos)=0;
virtual void setScaling(const MT_Vector3& scaling)=0;
virtual MT_Scalar GetMass()=0;

3
source/gameengine/Ketsji/KX_OdePhysicsController.cpp
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@ -133,8 +133,9 @@ void KX_OdePhysicsController::SetLinearVelocity(const MT_Vector3& lin_vel,bool l
ODEPhysicsController::SetLinearVelocity(lin_vel[0],lin_vel[1],lin_vel[2],local);
}
void KX_OdePhysicsController::setOrientation(const MT_Quaternion& orn)
void KX_OdePhysicsController::setOrientation(const MT_Matrix3x3& rot)
{
MT_Quaternion orn = rot.getRotation();
ODEPhysicsController::setOrientation(orn[0],orn[1],orn[2],orn[3]);
}

2
source/gameengine/Ketsji/KX_OdePhysicsController.h
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@ -67,7 +67,7 @@ public:
virtual void SetLinearVelocity(const MT_Vector3& lin_vel,bool local);
virtual void resolveCombinedVelocities(float linvelX,float linvelY,float linvelZ,float angVelX,float angVelY,float angVelZ);
virtual void getOrientation(MT_Quaternion& orn);
virtual void setOrientation(const MT_Quaternion& orn);
virtual void setOrientation(const MT_Matrix3x3& orn);
virtual void setPosition(const MT_Point3& pos);
virtual void setScaling(const MT_Vector3& scaling);
virtual MT_Scalar GetMass();

6
source/gameengine/Ketsji/KX_RadarSensor.cpp
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@ -176,8 +176,10 @@ void KX_RadarSensor::SynchronizeTransform()
if (m_physCtrl)
{
m_physCtrl->setPosition(trans.getOrigin().x(),trans.getOrigin().y(),trans.getOrigin().z());
m_physCtrl->setOrientation(trans.getRotation().x(),trans.getRotation().y(),trans.getRotation().z(),trans.getRotation().w());
MT_Quaternion orn = trans.getRotation();
MT_Point3 pos = trans.getOrigin();
m_physCtrl->setPosition(pos[0],pos[1],pos[2]);
m_physCtrl->setOrientation(orn[0],orn[1],orn[2],orn[3]);
m_physCtrl->calcXform();
}

13
source/gameengine/Ketsji/KX_Scene.cpp
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@ -712,8 +712,12 @@ void KX_Scene::DupliGroupRecurse(CValue* obj, int level)
if (replica->GetPhysicsController())
{
replica->GetPhysicsController()->setPosition(newpos);
replica->GetPhysicsController()->setOrientation(newori.getRotation());
// not required, already done in NodeSetLocalOrientation..
//replica->GetPhysicsController()->setPosition(newpos);
//replica->GetPhysicsController()->setOrientation(newori.getRotation());
// Scaling has been set relatively hereabove, this does not
// set the scaling of the controller. I don't know why it's just the
// relative scale and not the full scale that has to be put here...
replica->GetPhysicsController()->setScaling(newscale);
}
@ -843,8 +847,9 @@ SCA_IObject* KX_Scene::AddReplicaObject(class CValue* originalobject,
if (replica->GetPhysicsController())
{
replica->GetPhysicsController()->setPosition(newpos);
replica->GetPhysicsController()->setOrientation(newori.getRotation());
// not needed, already done in NodeSetLocalPosition()
//replica->GetPhysicsController()->setPosition(newpos);
//replica->GetPhysicsController()->setOrientation(newori.getRotation());
replica->GetPhysicsController()->setScaling(newscale);
}

3
source/gameengine/Ketsji/KX_SumoPhysicsController.cpp
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@ -170,8 +170,9 @@ void KX_SumoPhysicsController::setMargin(float collisionMargin)
}
void KX_SumoPhysicsController::setOrientation(const MT_Quaternion& orn)
void KX_SumoPhysicsController::setOrientation(const MT_Matrix3x3& rot)
{
MT_Quaternion orn = rot.getRotation();
SumoPhysicsController::setOrientation(
orn[0],orn[1],orn[2],orn[3]);

2
source/gameengine/Ketsji/KX_SumoPhysicsController.h
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@ -79,7 +79,7 @@ public:
void SuspendDynamics(bool);
void RestoreDynamics();
virtual void getOrientation(MT_Quaternion& orn);
virtual void setOrientation(const MT_Quaternion& orn);
virtual void setOrientation(const MT_Matrix3x3& orn);
virtual void setPosition(const MT_Point3& pos);
virtual void setScaling(const MT_Vector3& scaling);

34
source/gameengine/Physics/Bullet/CcdPhysicsController.cpp
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@ -337,12 +337,33 @@ void CcdPhysicsController::setOrientation(float quatImag0,float quatImag1,float
{
m_body->setCollisionFlags(m_body->getCollisionFlags() | btCollisionObject::CF_KINEMATIC_OBJECT);
}
m_MotionState->setWorldOrientation(quatImag0,quatImag1,quatImag2,quatReal);
// not required
//m_MotionState->setWorldOrientation(quatImag0,quatImag1,quatImag2,quatReal);
btTransform xform = m_body->getCenterOfMassTransform();
xform.setRotation(btQuaternion(quatImag0,quatImag1,quatImag2,quatReal));
m_body->setCenterOfMassTransform(xform);
m_bulletMotionState->setWorldTransform(xform);
// not required
//m_bulletMotionState->setWorldTransform(xform);
}
}
void CcdPhysicsController::setWorldOrientation(const btMatrix3x3& orn)
{
if (m_body)
{
m_body->activate(true);
if (m_body->isStaticObject())
{
m_body->setCollisionFlags(m_body->getCollisionFlags() | btCollisionObject::CF_KINEMATIC_OBJECT);
}
// not required
//m_MotionState->setWorldOrientation(quatImag0,quatImag1,quatImag2,quatReal);
btTransform xform = m_body->getCenterOfMassTransform();
xform.setBasis(orn);
m_body->setCenterOfMassTransform(xform);
// not required
//m_bulletMotionState->setWorldTransform(xform);
}
}
@ -356,12 +377,13 @@ void CcdPhysicsController::setPosition(float posX,float posY,float posZ)
{
m_body->setCollisionFlags(m_body->getCollisionFlags() | btCollisionObject::CF_KINEMATIC_OBJECT);
}
m_MotionState->setWorldPosition(posX,posY,posZ);
// not required, this function is only used to update the physic controller
//m_MotionState->setWorldPosition(posX,posY,posZ);
btTransform xform = m_body->getCenterOfMassTransform();
xform.setOrigin(btVector3(posX,posY,posZ));
m_body->setCenterOfMassTransform(xform);
m_bulletMotionState->setWorldTransform(xform);
// not required
//m_bulletMotionState->setWorldTransform(xform);
}

3
source/gameengine/Physics/Bullet/CcdPhysicsController.h
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@ -116,6 +116,9 @@ class CcdPhysicsController : public PHY_IPhysicsController
void CreateRigidbody();
protected:
void setWorldOrientation(const btMatrix3x3& mat);
public:
int m_collisionDelay;