blender/source/gameengine/SceneGraph/SG_IObject.h
Benoit Bolsee 3ea1c1b4b6 BGE: new sensor object to generalize Near and Radar sensor, static-static collision capbility.
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
2009-05-17 12:51:51 +00:00

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/**
* $Id$
*
* ***** BEGIN GPL LICENSE BLOCK *****
*
* This program is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
* as published by the Free Software Foundation; either version 2
* of the License, or (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program; if not, write to the Free Software Foundation,
* Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
*
* The Original Code is Copyright (C) 2001-2002 by NaN Holding BV.
* All rights reserved.
*
* The Original Code is: all of this file.
*
* Contributor(s): none yet.
*
* ***** END GPL LICENSE BLOCK *****
*/
#ifndef __SG_IOBJECT
#define __SG_IOBJECT
#include "SG_QList.h"
#include <vector>
// used for debugging: stage of the game engine main loop at which a Scenegraph modification is done
enum SG_Stage
{
SG_STAGE_UNKNOWN = 0,
SG_STAGE_NETWORK,
SG_STAGE_NETWORK_UPDATE,
SG_STAGE_PHYSICS1,
SG_STAGE_PHYSICS1_UPDATE,
SG_STAGE_CONTROLLER,
SG_STAGE_CONTROLLER_UPDATE,
SG_STAGE_ACTUATOR,
SG_STAGE_ACTUATOR_UPDATE,
SG_STAGE_PHYSICS2,
SG_STAGE_PHYSICS2_UPDATE,
SG_STAGE_SCENE,
SG_STAGE_RENDER,
SG_STAGE_CONVERTER,
SG_STAGE_CULLING,
SG_STAGE_MAX
};
extern SG_Stage gSG_Stage;
inline void SG_SetActiveStage(SG_Stage stage)
{
gSG_Stage = stage;
}
class SG_Controller;
class SG_IObject;
typedef std::vector<SG_Controller*> SGControllerList;
typedef void* (*SG_ReplicationNewCallback)(
SG_IObject* sgobject,
void* clientobj,
void* clientinfo
);
typedef void* (*SG_DestructionNewCallback)(
SG_IObject* sgobject,
void* clientobj,
void* clientinfo
);
typedef void (*SG_UpdateTransformCallback)(
SG_IObject* sgobject,
void* clientobj,
void* clientinfo
);
typedef bool (*SG_ScheduleUpdateCallback)(
SG_IObject* sgobject,
void* clientobj,
void* clientinfo
);
typedef bool (*SG_RescheduleUpdateCallback)(
SG_IObject* sgobject,
void* clientobj,
void* clientinfo
);
/**
* SG_Callbacks hold 2 call backs to the outside world.
* The first is meant to be called when objects are replicated.
* And allows the outside world to syncronise external objects
* with replicated nodes and their children.
* The second is called when a node is detroyed and again
* is their for synconisation purposes
* These callbacks may both be NULL.
* The efficacy of this approach has not been proved some
* alternatives might be to perform all replication and destruction
* externally.
* To define a class interface rather than a simple function
* call back so that replication information can be transmitted from
* parent->child.
*/
struct SG_Callbacks
{
SG_Callbacks(
):
m_replicafunc(NULL),
m_destructionfunc(NULL),
m_updatefunc(NULL),
m_schedulefunc(NULL),
m_reschedulefunc(NULL)
{
};
SG_Callbacks(
SG_ReplicationNewCallback repfunc,
SG_DestructionNewCallback destructfunc,
SG_UpdateTransformCallback updatefunc,
SG_ScheduleUpdateCallback schedulefunc,
SG_RescheduleUpdateCallback reschedulefunc
):
m_replicafunc(repfunc),
m_destructionfunc(destructfunc),
m_updatefunc(updatefunc),
m_schedulefunc(schedulefunc),
m_reschedulefunc(reschedulefunc)
{
};
SG_ReplicationNewCallback m_replicafunc;
SG_DestructionNewCallback m_destructionfunc;
SG_UpdateTransformCallback m_updatefunc;
SG_ScheduleUpdateCallback m_schedulefunc;
SG_RescheduleUpdateCallback m_reschedulefunc;
};
/**
base object that can be part of the scenegraph.
*/
class SG_IObject : public SG_QList
{
private :
void* m_SGclientObject;
void* m_SGclientInfo;
SG_Callbacks m_callbacks;
SGControllerList m_SGcontrollers;
public:
virtual ~SG_IObject();
/**
* Add a pointer to a controller allocated on the heap, to
* this node. This memory for this controller becomes the
* responsibility of this class. It will be deleted when
* this object is deleted.
*/
void
AddSGController(
SG_Controller* cont
);
/**
* Clear the array of pointers to controllers associated with
* this node. This does not delete the controllers themselves!
* This should be used very carefully to avoid memory
* leaks.
*/
void
RemoveAllControllers(
);
/// Needed for replication
/**
* Return a reference to this node's controller list.
* Whilst we don't wish to expose full control of the container
* to the user we do allow them to call non_const methods
* on pointers in the container. C++ topic: how to do this in
* using STL?
*/
SGControllerList& GetSGControllerList()
{
return m_SGcontrollers;
}
/**
*
*/
SG_Callbacks& GetCallBackFunctions()
{
return m_callbacks;
}
/**
* Get the client object associated with this
* node. This interface allows you to associate
* arbitray external objects with this node. They are
* passed to the callback functions when they are
* activated so you can syncronise these external objects
* upon replication and destruction
* This may be NULL.
*/
inline const void* GetSGClientObject() const
{
return m_SGclientObject;
}
inline void* GetSGClientObject()
{
return m_SGclientObject;
}
/**
* Set the client object for this node. This is just a
* pointer to an object allocated that should exist for
* the duration of the lifetime of this object, or untill
* this function is called again.
*/
void SetSGClientObject(void* clientObject)
{
m_SGclientObject = clientObject;
}
/**
* Set the current simulation time for this node.
* The implementation of this function runs through
* the nodes list of controllers and calls their SetSimulatedTime methods
*/
void SetControllerTime(double time);
virtual
void
Destruct(
) = 0;
protected :
bool
ActivateReplicationCallback(
SG_IObject *replica
)
{
if (m_callbacks.m_replicafunc)
{
// Call client provided replication func
if (m_callbacks.m_replicafunc(replica,m_SGclientObject,m_SGclientInfo) == NULL)
return false;
}
return true;
}
void
ActivateDestructionCallback(
)
{
if (m_callbacks.m_destructionfunc)
{
// Call client provided destruction function on this!
m_callbacks.m_destructionfunc(this,m_SGclientObject,m_SGclientInfo);
}
else
{
// no callback but must still destroy the node to avoid memory leak
delete this;
}
}
void
ActivateUpdateTransformCallback(
)
{
if (m_callbacks.m_updatefunc)
{
// Call client provided update func.
m_callbacks.m_updatefunc(this, m_SGclientObject, m_SGclientInfo);
}
}
bool
ActivateScheduleUpdateCallback(
)
{
// HACK, this check assumes that the scheduled nodes are put on a DList (see SG_Node.h)
// The early check on Empty() allows up to avoid calling the callback function
// when the node is already scheduled for update.
if (Empty() && m_callbacks.m_schedulefunc)
{
// Call client provided update func.
return m_callbacks.m_schedulefunc(this, m_SGclientObject, m_SGclientInfo);
}
return false;
}
void
ActivateRecheduleUpdateCallback(
)
{
if (m_callbacks.m_reschedulefunc)
{
// Call client provided update func.
m_callbacks.m_reschedulefunc(this, m_SGclientObject, m_SGclientInfo);
}
}
SG_IObject(
void* clientobj,
void* clientinfo,
SG_Callbacks& callbacks
);
SG_IObject(
const SG_IObject &other
);
};
#endif //__SG_IOBJECT