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
320 lines
8.3 KiB
C++
320 lines
8.3 KiB
C++
/**
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* Sense if other objects are near
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*
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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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#include "KX_NearSensor.h"
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#include "SCA_LogicManager.h"
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#include "KX_GameObject.h"
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#include "KX_TouchEventManager.h"
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#include "KX_Scene.h" // needed to create a replica
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#include "PHY_IPhysicsEnvironment.h"
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#include "PHY_IPhysicsController.h"
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#include "PHY_IMotionState.h"
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#ifdef HAVE_CONFIG_H
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#include <config.h>
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#endif
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KX_NearSensor::KX_NearSensor(SCA_EventManager* eventmgr,
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KX_GameObject* gameobj,
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float margin,
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float resetmargin,
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bool bFindMaterial,
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const STR_String& touchedpropname,
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class KX_Scene* scene,
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PHY_IPhysicsController* ctrl,
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PyTypeObject* T)
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:KX_TouchSensor(eventmgr,
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gameobj,
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bFindMaterial,
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false,
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touchedpropname,
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/* scene, */
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T),
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m_Margin(margin),
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m_ResetMargin(resetmargin)
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{
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gameobj->getClientInfo()->m_sensors.remove(this);
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m_client_info = new KX_ClientObjectInfo(gameobj, KX_ClientObjectInfo::SENSOR);
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m_client_info->m_sensors.push_back(this);
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//DT_ShapeHandle shape = (DT_ShapeHandle) vshape;
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m_physCtrl = ctrl;
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if (m_physCtrl)
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{
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m_physCtrl->SetMargin(m_Margin);
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m_physCtrl->setNewClientInfo(m_client_info);
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}
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SynchronizeTransform();
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}
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void KX_NearSensor::SynchronizeTransform()
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{
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// The near and radar sensors are using a different physical object which is
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// not linked to the parent object, must synchronize it.
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if (m_physCtrl)
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{
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PHY_IMotionState* motionState = m_physCtrl->GetMotionState();
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KX_GameObject* parent = ((KX_GameObject*)GetParent());
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const MT_Point3& pos = parent->NodeGetWorldPosition();
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float ori[12];
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parent->NodeGetWorldOrientation().getValue(ori);
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motionState->setWorldPosition(pos[0], pos[1], pos[2]);
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motionState->setWorldOrientation(ori);
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m_physCtrl->WriteMotionStateToDynamics(true);
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}
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}
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CValue* KX_NearSensor::GetReplica()
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{
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KX_NearSensor* replica = new KX_NearSensor(*this);
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replica->ProcessReplica();
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return replica;
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}
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void KX_NearSensor::ProcessReplica()
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{
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KX_TouchSensor::ProcessReplica();
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m_client_info = new KX_ClientObjectInfo(m_client_info->m_gameobject, KX_ClientObjectInfo::SENSOR);
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if (m_physCtrl)
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{
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m_physCtrl = m_physCtrl->GetReplica();
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if (m_physCtrl)
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{
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//static_cast<KX_TouchEventManager*>(m_eventmgr)->GetPhysicsEnvironment()->addSensor(replica->m_physCtrl);
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m_physCtrl->SetMargin(m_Margin);
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m_physCtrl->setNewClientInfo(m_client_info);
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}
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}
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}
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void KX_NearSensor::ReParent(SCA_IObject* parent)
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{
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SCA_ISensor::ReParent(parent);
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m_client_info->m_gameobject = static_cast<KX_GameObject*>(parent);
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m_client_info->m_sensors.push_back(this);
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//Synchronize here with the actual parent.
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SynchronizeTransform();
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}
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KX_NearSensor::~KX_NearSensor()
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{
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// for nearsensor, the sensor is the 'owner' of sumoobj
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// for touchsensor, it's the parent
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if (m_physCtrl)
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{
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//static_cast<KX_TouchEventManager*>(m_eventmgr)->GetPhysicsEnvironment()->removeSensor(m_physCtrl);
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delete m_physCtrl;
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m_physCtrl = NULL;
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}
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if (m_client_info)
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delete m_client_info;
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}
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bool KX_NearSensor::Evaluate()
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{
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bool result = false;
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// KX_GameObject* parent = static_cast<KX_GameObject*>(GetParent());
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if (m_bTriggered != m_bLastTriggered)
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{
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m_bLastTriggered = m_bTriggered;
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if (m_bTriggered)
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{
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if (m_physCtrl)
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{
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m_physCtrl->SetRadius(m_ResetMargin);
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}
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} else
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{
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if (m_physCtrl)
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{
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m_physCtrl->SetRadius(m_Margin);
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}
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}
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result = true;
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}
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return result;
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}
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// this function is called at broad phase stage to check if the two controller
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// need to interact at all. It is used for Near/Radar sensor that don't need to
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// check collision with object not included in filter
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bool KX_NearSensor::BroadPhaseFilterCollision(void*obj1,void*obj2)
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{
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KX_GameObject* parent = static_cast<KX_GameObject*>(GetParent());
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// need the mapping from PHY_IPhysicsController to gameobjects now
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assert(obj1==m_physCtrl && obj2);
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KX_ClientObjectInfo* client_info = static_cast<KX_ClientObjectInfo*>((static_cast<PHY_IPhysicsController*>(obj2))->getNewClientInfo());
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KX_GameObject* gameobj = ( client_info ?
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client_info->m_gameobject :
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NULL);
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if (gameobj && (gameobj != parent))
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{
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// only take valid colliders
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if (client_info->m_type == KX_ClientObjectInfo::ACTOR)
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{
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if ((m_touchedpropname.Length() == 0) ||
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(gameobj->GetProperty(m_touchedpropname)))
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{
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return true;
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}
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}
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}
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return false;
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}
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bool KX_NearSensor::NewHandleCollision(void* obj1,void* obj2,const PHY_CollData * coll_data)
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{
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// KX_TouchEventManager* toucheventmgr = static_cast<KX_TouchEventManager*>(m_eventmgr);
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// KX_GameObject* parent = static_cast<KX_GameObject*>(GetParent());
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// need the mapping from PHY_IPhysicsController to gameobjects now
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KX_ClientObjectInfo* client_info =static_cast<KX_ClientObjectInfo*> (obj1 == m_physCtrl?
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((PHY_IPhysicsController*)obj2)->getNewClientInfo() :
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((PHY_IPhysicsController*)obj1)->getNewClientInfo());
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KX_GameObject* gameobj = ( client_info ?
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client_info->m_gameobject :
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NULL);
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// Add the same check as in SCA_ISensor::Activate(),
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// we don't want to record collision when the sensor is not active.
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if (m_links && !m_suspended &&
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gameobj /* done in BroadPhaseFilterCollision() && (gameobj != parent)*/)
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{
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if (!m_colliders->SearchValue(gameobj))
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m_colliders->Add(gameobj->AddRef());
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// only take valid colliders
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// These checks are done already in BroadPhaseFilterCollision()
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//if (client_info->m_type == KX_ClientObjectInfo::ACTOR)
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//{
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// if ((m_touchedpropname.Length() == 0) ||
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// (gameobj->GetProperty(m_touchedpropname)))
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// {
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m_bTriggered = true;
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m_hitObject = gameobj;
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// }
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//}
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}
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return false; // was DT_CONTINUE; but this was defined in Sumo as false
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}
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/* ------------------------------------------------------------------------- */
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/* Python Functions */
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/* ------------------------------------------------------------------------- */
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//No methods
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/* ------------------------------------------------------------------------- */
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/* Python Integration Hooks */
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/* ------------------------------------------------------------------------- */
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PyTypeObject KX_NearSensor::Type = {
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#if (PY_VERSION_HEX >= 0x02060000)
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PyVarObject_HEAD_INIT(NULL, 0)
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#else
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/* python 2.5 and below */
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PyObject_HEAD_INIT( NULL ) /* required py macro */
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0, /* ob_size */
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#endif
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"KX_NearSensor",
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sizeof(PyObjectPlus_Proxy),
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0,
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py_base_dealloc,
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0,
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0,
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0,
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0,
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py_base_repr,
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0,0,0,0,0,0,
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py_base_getattro,
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py_base_setattro,
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0,0,0,0,0,0,0,0,0,
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Methods
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};
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PyParentObject KX_NearSensor::Parents[] = {
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&KX_NearSensor::Type,
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&KX_TouchSensor::Type,
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&SCA_ISensor::Type,
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&SCA_ILogicBrick::Type,
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&CValue::Type,
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NULL
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};
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PyMethodDef KX_NearSensor::Methods[] = {
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//No methods
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{NULL,NULL} //Sentinel
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};
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PyAttributeDef KX_NearSensor::Attributes[] = {
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KX_PYATTRIBUTE_FLOAT_RW_CHECK("distance", 0, 100, KX_NearSensor, m_Margin, CheckResetDistance),
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KX_PYATTRIBUTE_FLOAT_RW_CHECK("resetDistance", 0, 100, KX_NearSensor, m_ResetMargin, CheckResetDistance),
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{NULL} //Sentinel
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};
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PyObject* KX_NearSensor::py_getattro(PyObject *attr)
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{
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py_getattro_up(KX_TouchSensor);
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}
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PyObject* KX_NearSensor::py_getattro_dict() {
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py_getattro_dict_up(KX_TouchSensor);
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}
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int KX_NearSensor::py_setattro(PyObject*attr, PyObject* value)
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{
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py_setattro_up(KX_TouchSensor);
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}
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