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Radar/Near sensor performance problem fixed

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This commit is contained in:
Benoit Bolsee
2008-03-01 19:17:37 +00:00
parent 407b2d334d
commit 3cf5b1d6fb
14 changed files with 220 additions and 42 deletions
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4
source/gameengine/Ketsji/KX_ConvertPhysicsObjects.cpp
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@@ -1123,7 +1123,9 @@ void KX_ConvertBulletObject( class KX_GameObject* gameobj,
ci.m_angularDamping = 1.f - shapeprops->m_ang_drag;
//need a bit of damping, else system doesn't behave well
ci.m_inertiaFactor = shapeprops->m_inertia/0.4f;//defaults to 0.4, don't want to change behaviour
ci.m_collisionFilterGroup = (isbulletdyna) ? short(CcdConstructionInfo::DefaultFilter) : short(CcdConstructionInfo::StaticFilter);
ci.m_collisionFilterMask = (isbulletdyna) ? short(CcdConstructionInfo::AllFilter) : short(CcdConstructionInfo::AllFilter ^ CcdConstructionInfo::StaticFilter);
KX_BulletPhysicsController* physicscontroller = new KX_BulletPhysicsController(ci,isbulletdyna);
if (objprop->m_in_active_layer)

47
source/gameengine/Ketsji/KX_NearSensor.cpp
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@@ -191,7 +191,36 @@ bool KX_NearSensor::Evaluate(CValue* event)
return result;
}
// this function is called at broad phase stage to check if the two controller
// need to interact at all. It is used for Near/Radar sensor that don't need to
// check collision with object not included in filter
bool KX_NearSensor::BroadPhaseFilterCollision(void*obj1,void*obj2)
{
KX_GameObject* parent = static_cast<KX_GameObject*>(GetParent());
// need the mapping from PHY_IPhysicsController to gameobjects now
assert(obj1==m_physCtrl && obj2);
KX_ClientObjectInfo* client_info = static_cast<KX_ClientObjectInfo*>((static_cast<PHY_IPhysicsController*>(obj2))->getNewClientInfo());
KX_GameObject* gameobj = ( client_info ?
client_info->m_gameobject :
NULL);
if (gameobj && (gameobj != parent))
{
// only take valid colliders
if (client_info->m_type == KX_ClientObjectInfo::ACTOR)
{
if ((m_touchedpropname.Length() == 0) ||
(gameobj->GetProperty(m_touchedpropname)))
{
return true;
}
}
}
return false;
}
bool KX_NearSensor::NewHandleCollision(void* obj1,void* obj2,const PHY_CollData * coll_data)
{
@@ -208,20 +237,22 @@ bool KX_NearSensor::NewHandleCollision(void* obj1,void* obj2,const PHY_CollData
client_info->m_gameobject :
NULL);
if (gameobj && (gameobj != parent))
// these checks are done already in BroadPhaseFilterCollision()
if (gameobj /*&& (gameobj != parent)*/)
{
if (!m_colliders->SearchValue(gameobj))
m_colliders->Add(gameobj->AddRef());
// only take valid colliders
if (client_info->m_type == KX_ClientObjectInfo::ACTOR)
{
if ((m_touchedpropname.Length() == 0) ||
(gameobj->GetProperty(m_touchedpropname)))
{
// These checks are done already in BroadPhaseFilterCollision()
//if (client_info->m_type == KX_ClientObjectInfo::ACTOR)
//{
// if ((m_touchedpropname.Length() == 0) ||
// (gameobj->GetProperty(m_touchedpropname)))
// {
m_bTriggered = true;
m_hitObject = gameobj;
}
}
// }
//}
}
return DT_CONTINUE;

1
source/gameengine/Ketsji/KX_NearSensor.h
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@@ -77,6 +77,7 @@ public:
virtual void ReParent(SCA_IObject* parent);
virtual bool NewHandleCollision(void* obj1,void* obj2,
const PHY_CollData * coll_data);
virtual bool BroadPhaseFilterCollision(void*obj1,void*obj2);
virtual void RegisterSumo(KX_TouchEventManager *touchman);
virtual PyObject* _getattr(const STR_String& attr);

21
source/gameengine/Ketsji/KX_TouchEventManager.cpp
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@@ -54,6 +54,7 @@ KX_TouchEventManager::KX_TouchEventManager(class SCA_LogicManager* logicmgr,
m_physEnv->addTouchCallback(PHY_OBJECT_RESPONSE, KX_TouchEventManager::newCollisionResponse, this);
m_physEnv->addTouchCallback(PHY_SENSOR_RESPONSE, KX_TouchEventManager::newCollisionResponse, this);
m_physEnv->addTouchCallback(PHY_BROADPH_RESPONSE, KX_TouchEventManager::newBroadphaseResponse, this);
}
@@ -79,6 +80,26 @@ bool KX_TouchEventManager::newCollisionResponse(void *client_data,
return false;
}
bool KX_TouchEventManager::newBroadphaseResponse(void *client_data,
void *object1,
void *object2,
const PHY_CollData *coll_data)
{
PHY_IPhysicsController* ctrl = static_cast<PHY_IPhysicsController*>(object1);
KX_ClientObjectInfo* info = (ctrl) ? static_cast<KX_ClientObjectInfo*>(ctrl->getNewClientInfo()) : NULL;
// This call back should only be called for controllers of Near and Radar sensor
if (info &&
info->m_sensors.size() == 1 &&
(info->m_type == KX_ClientObjectInfo::NEAR ||
info->m_type == KX_ClientObjectInfo::RADAR))
{
// only one sensor for this type of object
KX_TouchSensor* touchsensor = static_cast<KX_TouchSensor*>(*info->m_sensors.begin());
return touchsensor->BroadPhaseFilterCollision(object1,object2);
}
return true;
}
void KX_TouchEventManager::RegisterSensor(SCA_ISensor* sensor)
{
KX_TouchSensor* touchsensor = static_cast<KX_TouchSensor*>(sensor);

7
source/gameengine/Ketsji/KX_TouchEventManager.h
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@@ -56,7 +56,12 @@ class KX_TouchEventManager : public SCA_EventManager
void *object1,
void *object2,
const PHY_CollData *coll_data);
static bool newBroadphaseResponse(void *client_data,
void *object1,
void *object2,
const PHY_CollData *coll_data);
virtual bool NewHandleCollision(void* obj1,void* obj2,
const PHY_CollData * coll_data);

8
source/gameengine/Ketsji/KX_TouchSensor.h
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@@ -57,8 +57,6 @@ protected:
class SCA_EventManager* m_eventmgr;
class PHY_IPhysicsController* m_physCtrl;
class PHY_ResponseTable* m_responstTable;
class PHY_PhysicsController* m_responsObject;
bool m_bCollision;
bool m_bTriggered;
@@ -86,7 +84,11 @@ public:
virtual bool NewHandleCollision(void*obj1,void*obj2,const PHY_CollData* colldata);
PHY_PhysicsController* GetPhysicsController() { return m_responsObject;}
// Allows to do pre-filtering and save computation time
// obj1 = sensor physical controller, obj2 = physical controller of second object
// return value = true if collision should be checked on pair of object
virtual bool BroadPhaseFilterCollision(void*obj1,void*obj2) { return true; }
virtual bool IsPositiveTrigger() {

16
source/gameengine/Physics/Bullet/CcdPhysicsController.cpp
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@@ -36,6 +36,7 @@ float gAngularSleepingTreshold = 1.0f;
btVector3 startVel(0,0,0);//-10000);
CcdPhysicsController::CcdPhysicsController (const CcdConstructionInfo& ci)
:m_cci(ci)
{
@@ -119,17 +120,20 @@ void CcdPhysicsController::CreateRigidbody()
m_cci.m_linearDamping,m_cci.m_angularDamping,
m_cci.m_friction,m_cci.m_restitution);
//
// init the rigidbody properly
//
//setMassProps this also sets collisionFlags
//convert collision flags!
//special case: a near/radar sensor controller should not be defined static or it will
//generate loads of static-static collision messages on the console
if ((m_cci.m_collisionFilterGroup & CcdConstructionInfo::SensorFilter) != 0)
{
// reset the flags that have been set so far
m_body->setCollisionFlags(0);
}
m_body->setCollisionFlags(m_body->getCollisionFlags() | m_cci.m_collisionFlags);
m_body->setGravity( m_cci.m_gravity);
m_body->setDamping(m_cci.m_linearDamping, m_cci.m_angularDamping);
@@ -141,12 +145,14 @@ CcdPhysicsController::~CcdPhysicsController()
if (m_cci.m_physicsEnv)
m_cci.m_physicsEnv->removeCcdPhysicsController(this);
delete m_MotionState;
if (m_MotionState)
delete m_MotionState;
if (m_bulletMotionState)
delete m_bulletMotionState;
delete m_body;
}
/**
SynchronizeMotionStates ynchronizes dynas, kinematic and deformable entities (and do 'late binding')
*/

18
source/gameengine/Physics/Bullet/CcdPhysicsController.h
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@@ -46,7 +46,8 @@ struct CcdConstructionInfo
StaticFilter = 2,
KinematicFilter = 4,
DebrisFilter = 8,
AllFilter = DefaultFilter | StaticFilter | KinematicFilter | DebrisFilter,
SensorFilter = 16,
AllFilter = DefaultFilter | StaticFilter | KinematicFilter | DebrisFilter | SensorFilter,
};
@@ -61,6 +62,7 @@ struct CcdConstructionInfo
m_collisionFlags(0),
m_collisionFilterGroup(DefaultFilter),
m_collisionFilterMask(AllFilter),
m_collisionShape(0),
m_MotionState(0),
m_physicsEnv(0),
m_inertiaFactor(1.f)
@@ -85,9 +87,8 @@ struct CcdConstructionInfo
short int m_collisionFilterGroup;
short int m_collisionFilterMask;
btCollisionShape* m_collisionShape;
class PHY_IMotionState* m_MotionState;
class btCollisionShape* m_collisionShape;
class PHY_IMotionState* m_MotionState;
CcdPhysicsEnvironment* m_physicsEnv; //needed for self-replication
float m_inertiaFactor;//tweak the inertia (hooked up to Blender 'formfactor'
@@ -96,11 +97,12 @@ struct CcdConstructionInfo
class btRigidBody;
///CcdPhysicsController is a physics object that supports continuous collision detection and time of impact based physics resolution.
class CcdPhysicsController : public PHY_IPhysicsController
{
btRigidBody* m_body;
class PHY_IMotionState* m_MotionState;
class PHY_IMotionState* m_MotionState;
btMotionState* m_bulletMotionState;
@@ -215,7 +217,11 @@ class CcdPhysicsController : public PHY_IPhysicsController
return m_MotionState;
}
class CcdPhysicsEnvironment* GetPhysicsEnvironment()
{
return m_cci.m_physicsEnv;
}
};

112
source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.cpp
View File

@@ -251,6 +251,22 @@ public:
};
#endif //NEW_BULLET_VEHICLE_SUPPORT
class CcdOverlapFilterCallBack : public btOverlapFilterCallback
{
private:
class CcdPhysicsEnvironment* m_physEnv;
public:
CcdOverlapFilterCallBack(CcdPhysicsEnvironment* env) :
m_physEnv(env)
{
}
virtual ~CcdOverlapFilterCallBack()
{
}
// return true when pairs need collision
virtual bool needBroadphaseCollision(btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1) const;
};
void CcdPhysicsEnvironment::setDebugDrawer(btIDebugDraw* debugDrawer)
{
@@ -302,7 +318,11 @@ m_numTimeSubSteps(1),
m_ccdMode(0),
m_solverType(-1),
m_profileTimings(0),
m_enableSatCollisionDetection(false)
m_enableSatCollisionDetection(false),
m_solver(NULL),
m_ownPairCache(NULL),
m_ownDispatcher(NULL),
m_filterCallback(NULL)
{
for (int i=0;i<PHY_NUM_RESPONSE;i++)
@@ -310,8 +330,10 @@ m_enableSatCollisionDetection(false)
m_triggerCallbacks[i] = 0;
}
if (!dispatcher)
{
dispatcher = new btCollisionDispatcher();
m_ownDispatcher = dispatcher;
}
if(!pairCache)
{
@@ -321,14 +343,16 @@ m_enableSatCollisionDetection(false)
btVector3 worldMax(10000,10000,10000);
pairCache = new btAxisSweep3(worldMin,worldMax);
// remember that this was allocated by us so that we can release it
m_ownPairCache = pairCache;
//broadphase = new btSimpleBroadphase();
}
m_filterCallback = new CcdOverlapFilterCallBack(this);
pairCache->setOverlapFilterCallback(m_filterCallback);
setSolverType(1);//issues with quickstep and memory allocations
m_dynamicsWorld = new btDiscreteDynamicsWorld(dispatcher,pairCache,new btSequentialImpulseConstraintSolver());
m_dynamicsWorld = new btDiscreteDynamicsWorld(dispatcher,pairCache,m_solver);
m_debugDrawer = 0;
m_gravity = btVector3(0.f,-10.f,0.f);
m_dynamicsWorld->setGravity(m_gravity);
@@ -346,7 +370,8 @@ void CcdPhysicsEnvironment::addCcdPhysicsController(CcdPhysicsController* ctrl)
body->setGravity( m_gravity );
m_controllers.push_back(ctrl);
m_dynamicsWorld->addRigidBody(body);
//use explicit group/filter for finer control over collision in bullet => near/radar sensor
m_dynamicsWorld->addRigidBody(body, ctrl->GetCollisionFilterGroup(), ctrl->GetCollisionFilterMask());
if (body->isStaticOrKinematicObject())
{
body->setActivationState(ISLAND_SLEEPING);
@@ -778,7 +803,20 @@ CcdPhysicsEnvironment::~CcdPhysicsEnvironment()
delete m_dynamicsWorld;
if (NULL != m_ownPairCache)
delete m_ownPairCache;
if (NULL != m_ownDispatcher)
delete m_ownDispatcher;
if (NULL != m_solver)
delete m_solver;
if (NULL != m_debugDrawer)
delete m_debugDrawer;
if (NULL != m_filterCallback)
delete m_filterCallback;
}
@@ -841,9 +879,10 @@ void CcdPhysicsEnvironment::addSensor(PHY_IPhysicsController* ctrl)
{
addCcdPhysicsController(ctrl1);
}
//Collision filter/mask is now set at the time of the creation of the controller
//force collision detection with everything, including static objects (might hurt performance!)
ctrl1->GetRigidBody()->getBroadphaseHandle()->m_collisionFilterMask = btBroadphaseProxy::AllFilter;
ctrl1->GetRigidBody()->getBroadphaseHandle()->m_collisionFilterGroup = btBroadphaseProxy::AllFilter;
//ctrl1->GetRigidBody()->getBroadphaseHandle()->m_collisionFilterMask = btBroadphaseProxy::AllFilter ^ btBroadphaseProxy::SensorTrigger;
//ctrl1->GetRigidBody()->getBroadphaseHandle()->m_collisionFilterGroup = btBroadphaseProxy::SensorTrigger;
//todo: make this 'sensor'!
requestCollisionCallback(ctrl);
@@ -962,9 +1001,47 @@ void CcdPhysicsEnvironment::CallbackTriggers()
}
// This call back is called before a pair is added in the cache
// Handy to remove objects that must be ignored by sensors
bool CcdOverlapFilterCallBack::needBroadphaseCollision(btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1) const
{
btCollisionObject *colObj0, *colObj1;
CcdPhysicsController *sensorCtrl, *objCtrl;
bool collides;
// first check the filters
collides = (proxy0->m_collisionFilterGroup & proxy1->m_collisionFilterMask) != 0;
collides = collides && (proxy1->m_collisionFilterGroup & proxy0->m_collisionFilterMask);
if (!collides)
return false;
// additional check for sensor object
if (proxy0->m_collisionFilterGroup & btBroadphaseProxy::SensorTrigger)
{
// this is a sensor object, the other one can't be a sensor object because
// they exclude each other in the above test
assert(!(proxy1->m_collisionFilterGroup & btBroadphaseProxy::SensorTrigger));
colObj0 = (btCollisionObject*)proxy0->m_clientObject;
colObj1 = (btCollisionObject*)proxy1->m_clientObject;
}
else if (proxy1->m_collisionFilterGroup & btBroadphaseProxy::SensorTrigger)
{
colObj0 = (btCollisionObject*)proxy1->m_clientObject;
colObj1 = (btCollisionObject*)proxy0->m_clientObject;
}
else
{
return true;
}
if (!colObj0 || !colObj1)
return false;
sensorCtrl = static_cast<CcdPhysicsController*>(colObj0->getUserPointer());
objCtrl = static_cast<CcdPhysicsController*>(colObj1->getUserPointer());
if (m_physEnv->m_triggerCallbacks[PHY_BROADPH_RESPONSE])
{
return m_physEnv->m_triggerCallbacks[PHY_BROADPH_RESPONSE](m_physEnv->m_triggerCallbacksUserPtrs[PHY_BROADPH_RESPONSE], sensorCtrl, objCtrl, 0);
}
return true;
}
#ifdef NEW_BULLET_VEHICLE_SUPPORT
@@ -998,12 +1075,19 @@ PHY_IPhysicsController* CcdPhysicsEnvironment::CreateSphereController(float radi
{
CcdConstructionInfo cinfo;
// memory leak! The shape is not deleted by Bullet and we cannot add it to the KX_Scene.m_shapes list
cinfo.m_collisionShape = new btSphereShape(radius);
cinfo.m_MotionState = 0;
cinfo.m_physicsEnv = this;
cinfo.m_collisionFlags |= btCollisionObject::CF_NO_CONTACT_RESPONSE | btCollisionObject::CF_KINEMATIC_OBJECT;
// declare this object as Dyamic rather then static!!
// The reason as it is designed to detect all type of object, including static object
// It would cause static-static message to be printed on the console otherwise
cinfo.m_collisionFlags |= btCollisionObject::CF_NO_CONTACT_RESPONSE/* | btCollisionObject::CF_KINEMATIC_OBJECT*/;
DefaultMotionState* motionState = new DefaultMotionState();
cinfo.m_MotionState = motionState;
// we will add later the possibility to select the filter from option
cinfo.m_collisionFilterMask = CcdConstructionInfo::AllFilter ^ CcdConstructionInfo::SensorFilter;
cinfo.m_collisionFilterGroup = CcdConstructionInfo::SensorFilter;
motionState->m_worldTransform.setIdentity();
motionState->m_worldTransform.setOrigin(btVector3(position[0],position[1],position[2]));
@@ -1275,12 +1359,18 @@ int CcdPhysicsEnvironment::createConstraint(class PHY_IPhysicsController* ctrl
PHY_IPhysicsController* CcdPhysicsEnvironment::CreateConeController(float coneradius,float coneheight)
{
CcdConstructionInfo cinfo;
//This is a memory leak: Bullet does not delete the shape and it cannot be added to
//the KX_Scene.m_shapes list -- too bad but that's not a lot of data
cinfo.m_collisionShape = new btConeShape(coneradius,coneheight);
cinfo.m_MotionState = 0;
cinfo.m_physicsEnv = this;
cinfo.m_collisionFlags |= btCollisionObject::CF_NO_CONTACT_RESPONSE;
DefaultMotionState* motionState = new DefaultMotionState();
cinfo.m_MotionState = motionState;
// we will add later the possibility to select the filter from option
cinfo.m_collisionFilterMask = CcdConstructionInfo::AllFilter ^ CcdConstructionInfo::SensorFilter;
cinfo.m_collisionFilterGroup = CcdConstructionInfo::SensorFilter;
motionState->m_worldTransform.setIdentity();
// motionState->m_worldTransform.setOrigin(btVector3(position[0],position[1],position[2]));

20
source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.h
View File

@@ -42,6 +42,7 @@ class btBroadphaseInterface;
class btOverlappingPairCache;
class btIDebugDraw;
class PHY_IVehicle;
class CcdOverlapFilterCallBack;
/// CcdPhysicsEnvironment is an experimental mainloop for physics simulation using optional continuous collision detection.
/// Physics Environment takes care of stepping the simulation and is a container for physics entities.
@@ -49,9 +50,8 @@ class PHY_IVehicle;
/// A derived class may be able to 'construct' entities by loading and/or converting
class CcdPhysicsEnvironment : public PHY_IPhysicsEnvironment
{
friend CcdOverlapFilterCallBack;
btVector3 m_gravity;
protected:
btIDebugDraw* m_debugDrawer;
@@ -166,7 +166,7 @@ protected:
virtual void addTouchCallback(int response_class, PHY_ResponseCallback callback, void *user);
virtual void requestCollisionCallback(PHY_IPhysicsController* ctrl);
virtual void removeCollisionCallback(PHY_IPhysicsController* ctrl);
//These two methods are used *solely* to create controllers for Near/Radar sensor! Don't use for anything else
virtual PHY_IPhysicsController* CreateSphereController(float radius,const PHY__Vector3& position);
virtual PHY_IPhysicsController* CreateConeController(float coneradius,float coneheight);
@@ -229,10 +229,22 @@ protected:
std::vector<WrapperVehicle*> m_wrapperVehicles;
class btDynamicsWorld* m_dynamicsWorld;
//use explicit btDiscreteDynamicsWorld* so that we have access to
//btDiscreteDynamicsWorld::addRigidBody(body,filter,group)
//so that we can set the body collision filter/group at the time of creation
//and not afterwards (breaks the collision system for radar/near sensor)
//Ideally we would like to have access to this function from the btDynamicsWorld interface
//class btDynamicsWorld* m_dynamicsWorld;
class btDiscreteDynamicsWorld* m_dynamicsWorld;
class btConstraintSolver* m_solver;
class btOverlappingPairCache* m_ownPairCache;
class CcdOverlapFilterCallBack* m_filterCallback;
class btDispatcher* m_ownDispatcher;
bool m_scalingPropagated;

2
source/gameengine/Physics/Sumo/SumoPhysicsEnvironment.cpp
View File

@@ -206,6 +206,8 @@ void SumoPhysicsEnvironment::addTouchCallback(int response_class, PHY_ResponseCa
case PHY_STATIC_RESPONSE:
sumoRespClass = PHY_STATIC_RESPONSE;
break;
case PHY_BROADPH_RESPONSE:
return;
default:
assert(0);
return;

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

@@ -19,7 +19,6 @@ subject to the following restrictions:
class PHY_ResponseTable;
class PHY_Shape;
@@ -40,10 +39,11 @@ struct PHY__Vector3
typedef enum
{
PHY_FH_RESPONSE,
PHY_SENSOR_RESPONSE, /* Touch Sensors */
PHY_SENSOR_RESPONSE, /* Touch Sensors */
PHY_CAMERA_RESPONSE, /* Visibility Culling */
PHY_OBJECT_RESPONSE, /* Object Dynamic Geometry Response */
PHY_STATIC_RESPONSE, /* Static Geometry Response */
PHY_BROADPH_RESPONSE, /* broadphase Response */
PHY_NUM_RESPONSE
};

1
source/gameengine/Physics/common/PHY_IPhysicsController.h
View File

@@ -85,7 +85,6 @@ class PHY_IPhysicsController
// dyna's that are rigidbody are free in orientation, dyna's with non-rigidbody are restricted
virtual void setRigidBody(bool rigid)=0;
// clientinfo for raycasts for example
virtual void* getNewClientInfo()=0;
virtual void setNewClientInfo(void* clientinfo)=0;

1
source/gameengine/Physics/common/PHY_IPhysicsEnvironment.h
View File

@@ -107,6 +107,7 @@ class PHY_IPhysicsEnvironment
virtual void removeSensor(PHY_IPhysicsController* ctrl)=0;
virtual void addTouchCallback(int response_class, PHY_ResponseCallback callback, void *user)=0;
virtual void requestCollisionCallback(PHY_IPhysicsController* ctrl)=0;
//These two methods are *solely* used to create controllers for sensor! Don't use for anything else
virtual PHY_IPhysicsController* CreateSphereController(float radius,const PHY__Vector3& position) =0;
virtual PHY_IPhysicsController* CreateConeController(float coneradius,float coneheight)=0;