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
154 lines
4.5 KiB
C++
154 lines
4.5 KiB
C++
/**
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* Senses touch and collision events
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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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#ifndef __KX_TOUCHSENSOR
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#define __KX_TOUCHSENSOR
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#include "SCA_ISensor.h"
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#include "ListValue.h"
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struct PHY_CollData;
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#include "KX_ClientObjectInfo.h"
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#if defined(_WIN64)
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typedef unsigned __int64 uint_ptr;
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#else
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typedef unsigned long uint_ptr;
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#endif
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class KX_TouchEventManager;
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class KX_TouchSensor : public SCA_ISensor
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{
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protected:
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Py_Header;
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/**
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* The sensor should only look for objects with this property.
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*/
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STR_String m_touchedpropname;
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bool m_bFindMaterial;
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bool m_bTouchPulse; /* changes in the colliding objects trigger pulses */
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class SCA_EventManager* m_eventmgr;
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class PHY_IPhysicsController* m_physCtrl;
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bool m_bCollision;
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bool m_bTriggered;
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bool m_bLastTriggered;
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// Use with m_bTouchPulse to detect changes
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int m_bLastCount; /* size of m_colliders last tick */
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uint_ptr m_bColliderHash; /* hash collision objects pointers to trigger incase one object collides and another takes its place */
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uint_ptr m_bLastColliderHash;
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SCA_IObject* m_hitObject;
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class CListValue* m_colliders;
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public:
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KX_TouchSensor(class SCA_EventManager* eventmgr,
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class KX_GameObject* gameobj,
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bool bFindMaterial,
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bool bTouchPulse,
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const STR_String& touchedpropname,
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PyTypeObject* T=&Type) ;
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virtual ~KX_TouchSensor();
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virtual CValue* GetReplica();
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virtual void ProcessReplica();
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virtual void SynchronizeTransform();
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virtual bool Evaluate();
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virtual void Init();
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virtual void ReParent(SCA_IObject* parent);
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virtual void RegisterSumo(KX_TouchEventManager* touchman);
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virtual void UnregisterSumo(KX_TouchEventManager* touchman);
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virtual void UnregisterToManager();
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// virtual DT_Bool HandleCollision(void* obj1,void* obj2,
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// const DT_CollData * coll_data);
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virtual bool NewHandleCollision(void*obj1,void*obj2,const PHY_CollData* colldata);
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// Allows to do pre-filtering and save computation time
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// obj1 = sensor physical controller, obj2 = physical controller of second object
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// return value = true if collision should be checked on pair of object
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virtual bool BroadPhaseFilterCollision(void*obj1,void*obj2) { return true; }
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virtual bool BroadPhaseSensorFilterCollision(void*obj1,void*obj2);
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virtual sensortype GetSensorType() { return TOUCH; }
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virtual bool IsPositiveTrigger() {
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bool result = m_bTriggered;
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if (m_invert) result = !result;
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return result;
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}
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virtual void EndFrame();
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// todo: put some info for collision maybe
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/* --------------------------------------------------------------------- */
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/* Python interface ---------------------------------------------------- */
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/* --------------------------------------------------------------------- */
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virtual PyObject* py_getattro(PyObject *attr);
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virtual PyObject* py_getattro_dict();
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virtual int py_setattro(PyObject *attr, PyObject *value);
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//Deprecated ----->
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/* 1. setProperty */
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KX_PYMETHOD_DOC_O(KX_TouchSensor,SetProperty);
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/* 2. getProperty */
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KX_PYMETHOD_DOC_NOARGS(KX_TouchSensor,GetProperty);
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/* 3. getHitObject */
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KX_PYMETHOD_DOC_NOARGS(KX_TouchSensor,GetHitObject);
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/* 4. getHitObject */
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KX_PYMETHOD_DOC_NOARGS(KX_TouchSensor,GetHitObjectList);
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/* 5. getTouchMaterial */
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KX_PYMETHOD_DOC_NOARGS(KX_TouchSensor,GetTouchMaterial);
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#if 0
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/* 6. setTouchMaterial */
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KX_PYMETHOD_DOC_O(KX_TouchSensor,SetTouchMaterial);
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#endif
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//<-----
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static PyObject* pyattr_get_object_hit(void *self_v, const KX_PYATTRIBUTE_DEF *attrdef);
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static PyObject* pyattr_get_object_hit_list(void *self_v, const KX_PYATTRIBUTE_DEF *attrdef);
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};
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#endif //__KX_TOUCHSENSOR
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