1146 lines
31 KiB
C++
1146 lines
31 KiB
C++
/**
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* $Id$
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*
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* ***** BEGIN GPL/BL DUAL 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. The Blender
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* Foundation also sells licenses for use in proprietary software under
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* the Blender License. See http://www.blender.org/BL/ for information
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* about this.
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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/BL DUAL LICENSE BLOCK *****
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*/
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#ifdef WIN32
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#pragma warning (disable : 4786)
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#endif
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#include "MT_assert.h"
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// defines USE_ODE to choose physics engine
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#include "KX_ConvertPhysicsObject.h"
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#include "KX_GameObject.h"
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#include "RAS_MeshObject.h"
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#include "KX_Scene.h"
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#include "SYS_System.h"
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#include "PHY_Pro.h" //todo cleanup
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#include "KX_ClientObjectInfo.h"
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#include "GEN_Map.h"
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#include "GEN_HashedPtr.h"
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#include "KX_PhysicsEngineEnums.h"
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#include "PHY_Pro.h"
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#include "KX_MotionState.h" // bridge between motionstate and scenegraph node
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#ifdef USE_ODE
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#include "KX_OdePhysicsController.h"
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#include "OdePhysicsEnvironment.h"
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#endif //USE_ODE
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// USE_SUMO_SOLID is defined in headerfile KX_ConvertPhysicsObject.h
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#ifdef USE_SUMO_SOLID
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#include "SumoPhysicsEnvironment.h"
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#include "KX_SumoPhysicsController.h"
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// sumo physics specific
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#include "SM_Object.h"
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#include "SM_FhObject.h"
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#include "SM_Scene.h"
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#include "SM_ClientObjectInfo.h"
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#include "KX_SumoPhysicsController.h"
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struct KX_PhysicsInstance
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{
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DT_VertexBaseHandle m_vertexbase;
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int m_vtxarray;
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RAS_IPolyMaterial* m_material;
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KX_PhysicsInstance(DT_VertexBaseHandle vertex_base, int vtxarray, RAS_IPolyMaterial* mat)
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: m_vertexbase(vertex_base),
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m_vtxarray(vtxarray),
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m_material(mat)
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{
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}
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~KX_PhysicsInstance()
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{
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DT_DeleteVertexBase(m_vertexbase);
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}
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};
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static GEN_Map<GEN_HashedPtr,DT_ShapeHandle> map_gamemesh_to_sumoshape;
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static GEN_Map<GEN_HashedPtr, KX_PhysicsInstance*> map_gamemesh_to_instance;
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// forward declarations
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static void BL_RegisterSumoObject(KX_GameObject* gameobj,class SM_Scene* sumoScene,class SM_Object* sumoObj,const STR_String& matname,bool isDynamic,bool isActor);
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static DT_ShapeHandle CreateShapeFromMesh(RAS_MeshObject* meshobj, bool polytope);
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void KX_ConvertSumoObject( KX_GameObject* gameobj,
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RAS_MeshObject* meshobj,
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KX_Scene* kxscene,
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PHY_ShapeProps* kxshapeprops,
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PHY_MaterialProps* kxmaterial,
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struct KX_ObjectProperties* objprop)
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{
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SM_ShapeProps* smprop = new SM_ShapeProps;
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smprop->m_ang_drag = kxshapeprops->m_ang_drag;
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smprop->m_do_anisotropic = kxshapeprops->m_do_anisotropic;
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smprop->m_do_fh = kxshapeprops->m_do_fh;
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smprop->m_do_rot_fh = kxshapeprops->m_do_rot_fh ;
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smprop->m_friction_scaling[0] = kxshapeprops->m_friction_scaling[0];
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smprop->m_friction_scaling[1] = kxshapeprops->m_friction_scaling[1];
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smprop->m_friction_scaling[2] = kxshapeprops->m_friction_scaling[2];
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smprop->m_inertia = MT_Vector3(1., 1., 1.) * kxshapeprops->m_inertia;
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smprop->m_lin_drag = kxshapeprops->m_lin_drag;
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smprop->m_mass = kxshapeprops->m_mass;
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smprop->m_radius = objprop->m_radius;
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SM_MaterialProps* smmaterial = new SM_MaterialProps;
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smmaterial->m_fh_damping = kxmaterial->m_fh_damping;
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smmaterial->m_fh_distance = kxmaterial->m_fh_distance;
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smmaterial->m_fh_normal = kxmaterial->m_fh_normal;
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smmaterial->m_fh_spring = kxmaterial->m_fh_spring;
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smmaterial->m_friction = kxmaterial->m_friction;
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smmaterial->m_restitution = kxmaterial->m_restitution;
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SumoPhysicsEnvironment* sumoEnv =
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(SumoPhysicsEnvironment*)kxscene->GetPhysicsEnvironment();
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SM_Scene* sceneptr = sumoEnv->GetSumoScene();
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SM_Object* sumoObj=NULL;
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if (objprop->m_dyna && objprop->m_isactor)
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{
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DT_ShapeHandle shape = NULL;
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bool polytope = false;
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switch (objprop->m_boundclass)
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{
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case KX_BOUNDBOX:
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shape = DT_NewBox(objprop->m_boundobject.box.m_extends[0],
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objprop->m_boundobject.box.m_extends[1],
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objprop->m_boundobject.box.m_extends[2]);
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smprop->m_inertia.scale(objprop->m_boundobject.box.m_extends[0]*objprop->m_boundobject.box.m_extends[0],
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objprop->m_boundobject.box.m_extends[1]*objprop->m_boundobject.box.m_extends[1],
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objprop->m_boundobject.box.m_extends[2]*objprop->m_boundobject.box.m_extends[2]);
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smprop->m_inertia *= smprop->m_mass/MT_Vector3(objprop->m_boundobject.box.m_extends).length();
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break;
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case KX_BOUNDCYLINDER:
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shape = DT_NewCylinder(smprop->m_radius, objprop->m_boundobject.c.m_height);
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smprop->m_inertia.scale(smprop->m_mass*smprop->m_radius*smprop->m_radius,
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smprop->m_mass*smprop->m_radius*smprop->m_radius,
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smprop->m_mass*objprop->m_boundobject.c.m_height*objprop->m_boundobject.c.m_height);
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break;
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case KX_BOUNDCONE:
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shape = DT_NewCone(objprop->m_radius, objprop->m_boundobject.c.m_height);
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smprop->m_inertia.scale(smprop->m_mass*smprop->m_radius*smprop->m_radius,
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smprop->m_mass*smprop->m_radius*smprop->m_radius,
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smprop->m_mass*objprop->m_boundobject.c.m_height*objprop->m_boundobject.c.m_height);
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break;
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/* Dynamic mesh objects. WARNING! slow. */
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case KX_BOUNDPOLYTOPE:
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polytope = true;
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// fall through
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case KX_BOUNDMESH:
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if (meshobj && meshobj->NumPolygons() > 0)
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{
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if ((shape = CreateShapeFromMesh(meshobj, polytope)))
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{
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// TODO: calculate proper inertia
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smprop->m_inertia *= smprop->m_mass*smprop->m_radius*smprop->m_radius;
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break;
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}
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}
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/* If CreateShapeFromMesh fails, fall through and use sphere */
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default:
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case KX_BOUNDSPHERE:
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shape = DT_NewSphere(objprop->m_radius);
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smprop->m_inertia *= smprop->m_mass*smprop->m_radius*smprop->m_radius;
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break;
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}
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sumoObj = new SM_Object(shape, !objprop->m_ghost?smmaterial:NULL,smprop,NULL);
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sumoObj->setRigidBody(objprop->m_angular_rigidbody?true:false);
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BL_RegisterSumoObject(gameobj,sceneptr,sumoObj,"",true, true);
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}
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else {
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// non physics object
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if (meshobj)
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{
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int numpolys = meshobj->NumPolygons();
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{
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DT_ShapeHandle complexshape=0;
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bool polytope = false;
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switch (objprop->m_boundclass)
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{
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case KX_BOUNDBOX:
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complexshape = DT_NewBox(objprop->m_boundobject.box.m_extends[0], objprop->m_boundobject.box.m_extends[1], objprop->m_boundobject.box.m_extends[2]);
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break;
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case KX_BOUNDSPHERE:
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complexshape = DT_NewSphere(objprop->m_boundobject.c.m_radius);
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break;
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case KX_BOUNDCYLINDER:
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complexshape = DT_NewCylinder(objprop->m_boundobject.c.m_radius, objprop->m_boundobject.c.m_height);
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break;
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case KX_BOUNDCONE:
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complexshape = DT_NewCone(objprop->m_boundobject.c.m_radius, objprop->m_boundobject.c.m_height);
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break;
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case KX_BOUNDPOLYTOPE:
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polytope = true;
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// fall through
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default:
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case KX_BOUNDMESH:
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if (numpolys>0)
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{
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complexshape = CreateShapeFromMesh(meshobj, polytope);
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//std::cout << "Convert Physics Mesh: " << meshobj->GetName() << std::endl;
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/* if (!complexshape)
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{
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// Something has to be done here - if the object has no polygons, it will not be able to have
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// sensors attached to it.
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DT_Vector3 pt = {0., 0., 0.};
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complexshape = DT_NewSphere(1.0);
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objprop->m_ghost = evilObject = true;
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} */
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}
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break;
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}
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if (complexshape)
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{
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SM_Object *dynamicParent = NULL;
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if (objprop->m_dynamic_parent)
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{
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// problem is how to find the dynamic parent
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// in the scenegraph
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KX_SumoPhysicsController* sumoctrl =
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(KX_SumoPhysicsController*)
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objprop->m_dynamic_parent->GetPhysicsController();
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if (sumoctrl)
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{
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dynamicParent = sumoctrl->GetSumoObject();
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}
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MT_assert(dynamicParent);
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}
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sumoObj = new SM_Object(complexshape,!objprop->m_ghost?smmaterial:NULL,NULL, dynamicParent);
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const STR_String& matname=meshobj->GetMaterialName(0);
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BL_RegisterSumoObject(gameobj,sceneptr,
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sumoObj,
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matname,
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objprop->m_dyna,
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objprop->m_isactor);
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}
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}
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}
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}
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// physics object get updated here !
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// lazy evaluation because we might not support scaling !gameobj->UpdateTransform();
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if (objprop->m_in_active_layer && sumoObj)
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{
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sceneptr->add(*sumoObj);
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}
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}
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static void BL_RegisterSumoObject(
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KX_GameObject* gameobj,
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class SM_Scene* sumoScene,
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class SM_Object* sumoObj,
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const STR_String& matname,
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bool isDynamic,
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bool isActor)
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{
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PHY_IMotionState* motionstate = new KX_MotionState(gameobj->GetSGNode());
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// need easy access, not via 'node' etc.
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KX_SumoPhysicsController* physicscontroller = new KX_SumoPhysicsController(sumoScene,sumoObj,motionstate,isDynamic);
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gameobj->SetPhysicsController(physicscontroller,isDynamic);
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if (!gameobj->getClientInfo())
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std::cout << "BL_RegisterSumoObject: WARNING: Object " << gameobj->GetName() << " has no client info" << std::endl;
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physicscontroller->setNewClientInfo(gameobj->getClientInfo());
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gameobj->GetSGNode()->AddSGController(physicscontroller);
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gameobj->getClientInfo()->m_type = (isActor ? KX_ClientObjectInfo::ACTOR : KX_ClientObjectInfo::STATIC);
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// store materialname in auxinfo, needed for touchsensors
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gameobj->getClientInfo()->m_auxilary_info = (matname.Length() ? (void*)(matname.ReadPtr()+2) : NULL);
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physicscontroller->SetObject(gameobj->GetSGNode());
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}
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static DT_ShapeHandle InstancePhysicsComplex(RAS_MeshObject* meshobj, int vtxarray, RAS_IPolyMaterial *mat)
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{
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// instance a mesh from a single vertex array & material
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const RAS_TexVert *vertex_array = &((*meshobj->GetVertexCache(mat)[vtxarray])[0]);
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//const KX_IndexArray &index_array = *meshobj->GetIndexCache(mat)[vtxarray];
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DT_VertexBaseHandle vertex_base = DT_NewVertexBase(vertex_array[0].getLocalXYZ(), sizeof(RAS_TexVert));
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DT_ShapeHandle shape = DT_NewComplexShape(vertex_base);
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std::vector<DT_Index> indices;
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for (int p = 0; p < meshobj->NumPolygons(); p++)
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{
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RAS_Polygon* poly = meshobj->GetPolygon(p);
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// only add polygons that have the collisionflag set
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if (poly->IsCollider())
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{
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DT_VertexIndices(3, poly->GetVertexIndexBase().m_indexarray);
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// tesselate
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if (poly->VertexCount() == 4)
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{
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DT_Begin();
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DT_VertexIndex(poly->GetVertexIndexBase().m_indexarray[0]);
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DT_VertexIndex(poly->GetVertexIndexBase().m_indexarray[2]);
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DT_VertexIndex(poly->GetVertexIndexBase().m_indexarray[3]);
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DT_End();
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}
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}
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}
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//DT_VertexIndices(indices.size(), &indices[0]);
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DT_EndComplexShape();
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map_gamemesh_to_instance.insert(GEN_HashedPtr(meshobj), new KX_PhysicsInstance(vertex_base, vtxarray, mat));
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return shape;
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}
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static DT_ShapeHandle InstancePhysicsPolytope(RAS_MeshObject* meshobj, int vtxarray, RAS_IPolyMaterial *mat)
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{
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// instance a mesh from a single vertex array & material
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const RAS_TexVert *vertex_array = &((*meshobj->GetVertexCache(mat)[vtxarray])[0]);
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//const KX_IndexArray &index_array = *meshobj->GetIndexCache(mat)[vtxarray];
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DT_VertexBaseHandle vertex_base = DT_NewVertexBase(vertex_array[0].getLocalXYZ(), sizeof(RAS_TexVert));
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std::vector<DT_Index> indices;
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for (int p = 0; p < meshobj->NumPolygons(); p++)
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{
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RAS_Polygon* poly = meshobj->GetPolygon(p);
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// only add polygons that have the collisionflag set
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if (poly->IsCollider())
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{
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indices.push_back(poly->GetVertexIndexBase().m_indexarray[0]);
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indices.push_back(poly->GetVertexIndexBase().m_indexarray[1]);
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indices.push_back(poly->GetVertexIndexBase().m_indexarray[2]);
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if (poly->VertexCount() == 4)
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indices.push_back(poly->GetVertexIndexBase().m_indexarray[3]);
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}
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}
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DT_ShapeHandle shape = DT_NewPolytope(vertex_base);
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DT_VertexIndices(indices.size(), &indices[0]);
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DT_EndPolytope();
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map_gamemesh_to_instance.insert(GEN_HashedPtr(meshobj), new KX_PhysicsInstance(vertex_base, vtxarray, mat));
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return shape;
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}
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// This will have to be a method in a class somewhere...
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// Update SOLID with a changed physics mesh.
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// not used... yet.
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bool KX_ReInstanceShapeFromMesh(RAS_MeshObject* meshobj)
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{
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KX_PhysicsInstance *instance = *map_gamemesh_to_instance[GEN_HashedPtr(meshobj)];
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if (instance)
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{
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const RAS_TexVert *vertex_array = &((*meshobj->GetVertexCache(instance->m_material)[instance->m_vtxarray])[0]);
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DT_ChangeVertexBase(instance->m_vertexbase, vertex_array[0].getLocalXYZ());
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return true;
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}
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return false;
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}
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static DT_ShapeHandle CreateShapeFromMesh(RAS_MeshObject* meshobj, bool polytope)
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{
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DT_ShapeHandle *shapeptr = map_gamemesh_to_sumoshape[GEN_HashedPtr(meshobj)];
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// Mesh has already been converted: reuse
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if (shapeptr)
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{
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return *shapeptr;
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}
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// Mesh has no polygons!
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int numpolys = meshobj->NumPolygons();
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if (!numpolys)
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{
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return NULL;
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}
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// Count the number of collision polygons and check they all come from the same
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// vertex array
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int numvalidpolys = 0;
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int vtxarray = -1;
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RAS_IPolyMaterial *poly_material = NULL;
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bool reinstance = true;
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for (int p=0; p<numpolys; p++)
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{
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RAS_Polygon* poly = meshobj->GetPolygon(p);
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// only add polygons that have the collisionflag set
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if (poly->IsCollider())
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{
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// check polygon is from the same vertex array
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if (poly->GetVertexIndexBase().m_vtxarray != vtxarray)
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{
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if (vtxarray < 0)
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vtxarray = poly->GetVertexIndexBase().m_vtxarray;
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else
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{
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reinstance = false;
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vtxarray = -1;
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}
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}
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// check poly is from the same material
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if (poly->GetMaterial()->GetPolyMaterial() != poly_material)
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{
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if (poly_material)
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{
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reinstance = false;
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poly_material = NULL;
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}
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else
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poly_material = poly->GetMaterial()->GetPolyMaterial();
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}
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// count the number of collision polys
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numvalidpolys++;
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// We have one collision poly, and we can't reinstance, so we
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// might as well break here.
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if (!reinstance)
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break;
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}
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}
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// No collision polygons
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if (numvalidpolys < 1)
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return NULL;
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DT_ShapeHandle shape;
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if (reinstance)
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{
|
|
if (polytope)
|
|
shape = InstancePhysicsPolytope(meshobj, vtxarray, poly_material);
|
|
else
|
|
shape = InstancePhysicsComplex(meshobj, vtxarray, poly_material);
|
|
}
|
|
else
|
|
{
|
|
if (polytope)
|
|
{
|
|
std::cout << "CreateShapeFromMesh: " << meshobj->GetName() << " is not suitable for polytope." << std::endl;
|
|
if (!poly_material)
|
|
std::cout << " Check mesh materials." << std::endl;
|
|
if (vtxarray < 0)
|
|
std::cout << " Check number of vertices." << std::endl;
|
|
}
|
|
|
|
shape = DT_NewComplexShape(NULL);
|
|
|
|
numvalidpolys = 0;
|
|
|
|
for (int p2=0; p2<numpolys; p2++)
|
|
{
|
|
RAS_Polygon* poly = meshobj->GetPolygon(p2);
|
|
|
|
// only add polygons that have the collisionflag set
|
|
if (poly->IsCollider())
|
|
{ /* We have to tesselate here because SOLID can only raycast triangles */
|
|
DT_Begin();
|
|
/* V1 */
|
|
DT_Vertex(meshobj->GetVertex(poly->GetVertexIndexBase().m_vtxarray,
|
|
poly->GetVertexIndexBase().m_indexarray[2],
|
|
poly->GetMaterial()->GetPolyMaterial())->getLocalXYZ());
|
|
/* V2 */
|
|
DT_Vertex(meshobj->GetVertex(poly->GetVertexIndexBase().m_vtxarray,
|
|
poly->GetVertexIndexBase().m_indexarray[1],
|
|
poly->GetMaterial()->GetPolyMaterial())->getLocalXYZ());
|
|
/* V3 */
|
|
DT_Vertex(meshobj->GetVertex(poly->GetVertexIndexBase().m_vtxarray,
|
|
poly->GetVertexIndexBase().m_indexarray[0],
|
|
poly->GetMaterial()->GetPolyMaterial())->getLocalXYZ());
|
|
|
|
numvalidpolys++;
|
|
DT_End();
|
|
|
|
if (poly->VertexCount() == 4)
|
|
{
|
|
DT_Begin();
|
|
/* V1 */
|
|
DT_Vertex(meshobj->GetVertex(poly->GetVertexIndexBase().m_vtxarray,
|
|
poly->GetVertexIndexBase().m_indexarray[3],
|
|
poly->GetMaterial()->GetPolyMaterial())->getLocalXYZ());
|
|
/* V3 */
|
|
DT_Vertex(meshobj->GetVertex(poly->GetVertexIndexBase().m_vtxarray,
|
|
poly->GetVertexIndexBase().m_indexarray[2],
|
|
poly->GetMaterial()->GetPolyMaterial())->getLocalXYZ());
|
|
/* V4 */
|
|
DT_Vertex(meshobj->GetVertex(poly->GetVertexIndexBase().m_vtxarray,
|
|
poly->GetVertexIndexBase().m_indexarray[0],
|
|
poly->GetMaterial()->GetPolyMaterial())->getLocalXYZ());
|
|
|
|
numvalidpolys++;
|
|
DT_End();
|
|
}
|
|
|
|
}
|
|
}
|
|
|
|
DT_EndComplexShape();
|
|
}
|
|
|
|
if (numvalidpolys > 0)
|
|
{
|
|
map_gamemesh_to_sumoshape.insert(GEN_HashedPtr(meshobj),shape);
|
|
return shape;
|
|
}
|
|
|
|
delete shape;
|
|
return NULL;
|
|
}
|
|
|
|
void KX_ClearSumoSharedShapes()
|
|
{
|
|
int numshapes = map_gamemesh_to_sumoshape.size();
|
|
int i;
|
|
for (i=0;i<numshapes ;i++)
|
|
{
|
|
DT_ShapeHandle shape = *map_gamemesh_to_sumoshape.at(i);
|
|
DT_DeleteShape(shape);
|
|
}
|
|
|
|
map_gamemesh_to_sumoshape.clear();
|
|
|
|
for (i=0; i < map_gamemesh_to_instance.size(); i++)
|
|
delete *map_gamemesh_to_instance.at(i);
|
|
|
|
map_gamemesh_to_instance.clear();
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
#endif //USE_SUMO_SOLID
|
|
|
|
|
|
#ifdef USE_ODE
|
|
|
|
void KX_ConvertODEEngineObject(KX_GameObject* gameobj,
|
|
RAS_MeshObject* meshobj,
|
|
KX_Scene* kxscene,
|
|
struct PHY_ShapeProps* shapeprops,
|
|
struct PHY_MaterialProps* smmaterial,
|
|
struct KX_ObjectProperties* objprop)
|
|
{
|
|
|
|
// not yet, future extension :)
|
|
bool dyna=objprop->m_dyna;
|
|
bool fullRigidBody= ( objprop->m_dyna && objprop->m_angular_rigidbody) != 0;
|
|
bool phantom = objprop->m_ghost;
|
|
class PHY_IMotionState* motionstate = new KX_MotionState(gameobj->GetSGNode());
|
|
|
|
class ODEPhysicsEnvironment* odeEnv =
|
|
(ODEPhysicsEnvironment*)kxscene->GetPhysicsEnvironment();
|
|
|
|
dxSpace* space = odeEnv->GetOdeSpace();
|
|
dxWorld* world = odeEnv->GetOdeWorld();
|
|
|
|
bool isSphere = false;
|
|
|
|
switch (objprop->m_boundclass)
|
|
{
|
|
case KX_BOUNDBOX:
|
|
{
|
|
|
|
KX_OdePhysicsController* physicscontroller =
|
|
new KX_OdePhysicsController(
|
|
dyna,
|
|
fullRigidBody,
|
|
phantom,
|
|
motionstate,
|
|
space,
|
|
world,
|
|
shapeprops->m_mass,
|
|
smmaterial->m_friction,
|
|
smmaterial->m_restitution,
|
|
isSphere,
|
|
objprop->m_boundobject.box.m_center,
|
|
objprop->m_boundobject.box.m_extends,
|
|
objprop->m_boundobject.c.m_radius
|
|
);
|
|
|
|
gameobj->SetPhysicsController(physicscontroller);
|
|
physicscontroller->setNewClientInfo(gameobj->getClientInfo());
|
|
gameobj->GetSGNode()->AddSGController(physicscontroller);
|
|
|
|
bool isActor = objprop->m_isactor;
|
|
STR_String materialname;
|
|
if (meshobj)
|
|
materialname = meshobj->GetMaterialName(0);
|
|
|
|
const char* matname = materialname.ReadPtr();
|
|
|
|
|
|
physicscontroller->SetObject(gameobj->GetSGNode());
|
|
|
|
break;
|
|
}
|
|
default:
|
|
{
|
|
}
|
|
};
|
|
|
|
}
|
|
|
|
|
|
#endif // USE_ODE
|
|
|
|
|
|
#ifdef USE_BULLET
|
|
|
|
#include "CcdPhysicsEnvironment.h"
|
|
#include "CcdPhysicsController.h"
|
|
#include "BroadphaseCollision/BroadphaseInterface.h"
|
|
|
|
#include "KX_BulletPhysicsController.h"
|
|
#include "CollisionShapes/BoxShape.h"
|
|
#include "CollisionShapes/SphereShape.h"
|
|
#include "CollisionShapes/ConeShape.h"
|
|
#include "CollisionShapes/ConvexShape.h"
|
|
#include "CollisionShapes/CylinderShape.h"
|
|
#include "CollisionShapes/MultiSphereShape.h"
|
|
#include "CollisionShapes/ConvexHullShape.h"
|
|
#include "CollisionShapes/TriangleMesh.h"
|
|
#include "CollisionShapes/TriangleMeshShape.h"
|
|
#include "CollisionShapes/BvhTriangleMeshShape.h"
|
|
|
|
#ifdef WIN32
|
|
#if _MSC_VER >= 1310
|
|
//only use SIMD Hull code under Win32
|
|
//#define TEST_HULL 1
|
|
#ifdef TEST_HULL
|
|
#define USE_HULL 1
|
|
//#define TEST_SIMD_HULL 1
|
|
|
|
#include "NarrowPhaseCollision/Hull.h"
|
|
#endif //#ifdef TEST_HULL
|
|
|
|
#endif //_MSC_VER
|
|
#endif //WIN32
|
|
|
|
|
|
static GEN_Map<GEN_HashedPtr,CollisionShape*> map_gamemesh_to_bulletshape;
|
|
|
|
// forward declarations
|
|
static CollisionShape* CreateBulletShapeFromMesh(RAS_MeshObject* meshobj, bool polytope)
|
|
{
|
|
if (!meshobj)
|
|
return 0;
|
|
|
|
CollisionShape* collisionMeshShape = 0;
|
|
ConvexHullShape* convexHullShape = 0;
|
|
TriangleMeshShape* concaveShape = 0;
|
|
|
|
TriangleMesh* collisionMeshData = 0;
|
|
|
|
//see if there is any polygons, if not, bail out.
|
|
|
|
int numPoints = 0;
|
|
SimdVector3* points = 0;
|
|
|
|
CollisionShape** shapeptr = map_gamemesh_to_bulletshape[GEN_HashedPtr(meshobj)];
|
|
|
|
// Mesh has already been converted: reuse
|
|
if (shapeptr)
|
|
{
|
|
//return *shapeptr;
|
|
}
|
|
|
|
// Mesh has no polygons!
|
|
int numpolys = meshobj->NumPolygons();
|
|
if (!numpolys)
|
|
{
|
|
return NULL;
|
|
}
|
|
|
|
// Count the number of collision polygons and check they all come from the same
|
|
// vertex array
|
|
int numvalidpolys = 0;
|
|
int vtxarray = -1;
|
|
RAS_IPolyMaterial *poly_material = NULL;
|
|
bool reinstance = true;
|
|
|
|
for (int p=0; p<numpolys; p++)
|
|
{
|
|
RAS_Polygon* poly = meshobj->GetPolygon(p);
|
|
|
|
// only add polygons that have the collisionflag set
|
|
if (poly->IsCollider())
|
|
{
|
|
// check polygon is from the same vertex array
|
|
if (poly->GetVertexIndexBase().m_vtxarray != vtxarray)
|
|
{
|
|
if (vtxarray < 0)
|
|
vtxarray = poly->GetVertexIndexBase().m_vtxarray;
|
|
else
|
|
{
|
|
reinstance = false;
|
|
vtxarray = -1;
|
|
}
|
|
}
|
|
|
|
// check poly is from the same material
|
|
if (poly->GetMaterial()->GetPolyMaterial() != poly_material)
|
|
{
|
|
if (poly_material)
|
|
{
|
|
reinstance = false;
|
|
poly_material = NULL;
|
|
}
|
|
else
|
|
poly_material = poly->GetMaterial()->GetPolyMaterial();
|
|
}
|
|
|
|
// count the number of collision polys
|
|
numvalidpolys++;
|
|
|
|
// We have one collision poly, and we can't reinstance, so we
|
|
// might as well break here.
|
|
if (!reinstance)
|
|
break;
|
|
}
|
|
}
|
|
|
|
// No collision polygons
|
|
if (numvalidpolys < 1)
|
|
return NULL;
|
|
|
|
|
|
if (polytope)
|
|
{
|
|
convexHullShape = new ConvexHullShape(points,numPoints);
|
|
collisionMeshShape = convexHullShape;
|
|
} else
|
|
{
|
|
collisionMeshData = new TriangleMesh();
|
|
// concaveShape = new TriangleMeshShape(collisionMeshData);
|
|
//collisionMeshShape = concaveShape;
|
|
|
|
}
|
|
|
|
|
|
numvalidpolys = 0;
|
|
|
|
for (int p2=0; p2<numpolys; p2++)
|
|
{
|
|
RAS_Polygon* poly = meshobj->GetPolygon(p2);
|
|
|
|
// only add polygons that have the collisionflag set
|
|
if (poly->IsCollider())
|
|
{
|
|
//Bullet can raycast any shape, so
|
|
if (polytope)
|
|
{
|
|
for (int i=0;i<poly->VertexCount();i++)
|
|
{
|
|
const float* vtx = meshobj->GetVertex(poly->GetVertexIndexBase().m_vtxarray,
|
|
poly->GetVertexIndexBase().m_indexarray[i],
|
|
poly->GetMaterial()->GetPolyMaterial())->getLocalXYZ();
|
|
SimdPoint3 point(vtx[0],vtx[1],vtx[2]);
|
|
convexHullShape->AddPoint(point);
|
|
}
|
|
if (poly->VertexCount())
|
|
numvalidpolys++;
|
|
|
|
} else
|
|
{
|
|
{
|
|
const float* vtx = meshobj->GetVertex(poly->GetVertexIndexBase().m_vtxarray,
|
|
poly->GetVertexIndexBase().m_indexarray[2],
|
|
poly->GetMaterial()->GetPolyMaterial())->getLocalXYZ();
|
|
SimdPoint3 vertex0(vtx[0],vtx[1],vtx[2]);
|
|
vtx = meshobj->GetVertex(poly->GetVertexIndexBase().m_vtxarray,
|
|
poly->GetVertexIndexBase().m_indexarray[1],
|
|
poly->GetMaterial()->GetPolyMaterial())->getLocalXYZ();
|
|
SimdPoint3 vertex1(vtx[0],vtx[1],vtx[2]);
|
|
vtx = meshobj->GetVertex(poly->GetVertexIndexBase().m_vtxarray,
|
|
poly->GetVertexIndexBase().m_indexarray[0],
|
|
poly->GetMaterial()->GetPolyMaterial())->getLocalXYZ();
|
|
SimdPoint3 vertex2(vtx[0],vtx[1],vtx[2]);
|
|
collisionMeshData->AddTriangle(vertex0,vertex1,vertex2);
|
|
numvalidpolys++;
|
|
}
|
|
if (poly->VertexCount() == 4)
|
|
{
|
|
const float* vtx = meshobj->GetVertex(poly->GetVertexIndexBase().m_vtxarray,
|
|
poly->GetVertexIndexBase().m_indexarray[3],
|
|
poly->GetMaterial()->GetPolyMaterial())->getLocalXYZ();
|
|
SimdPoint3 vertex0(vtx[0],vtx[1],vtx[2]);
|
|
vtx = meshobj->GetVertex(poly->GetVertexIndexBase().m_vtxarray,
|
|
poly->GetVertexIndexBase().m_indexarray[2],
|
|
poly->GetMaterial()->GetPolyMaterial())->getLocalXYZ();
|
|
SimdPoint3 vertex1(vtx[0],vtx[1],vtx[2]);
|
|
vtx = meshobj->GetVertex(poly->GetVertexIndexBase().m_vtxarray,
|
|
poly->GetVertexIndexBase().m_indexarray[0],
|
|
poly->GetMaterial()->GetPolyMaterial())->getLocalXYZ();
|
|
SimdPoint3 vertex2(vtx[0],vtx[1],vtx[2]);
|
|
collisionMeshData->AddTriangle(vertex0,vertex1,vertex2);
|
|
numvalidpolys++;
|
|
}
|
|
|
|
}
|
|
}
|
|
}
|
|
|
|
|
|
|
|
if (numvalidpolys > 0)
|
|
{
|
|
|
|
//map_gamemesh_to_bulletshape.insert(GEN_HashedPtr(meshobj),collisionMeshShape);
|
|
if (!polytope)
|
|
{
|
|
concaveShape = new BvhTriangleMeshShape( collisionMeshData );
|
|
//concaveShape = new TriangleMeshShape( collisionMeshData );
|
|
|
|
concaveShape->RecalcLocalAabb();
|
|
collisionMeshShape = concaveShape;
|
|
|
|
}
|
|
|
|
|
|
|
|
return collisionMeshShape;
|
|
}
|
|
|
|
delete collisionMeshShape;
|
|
return NULL;
|
|
|
|
}
|
|
|
|
|
|
|
|
void KX_ConvertBulletObject( class KX_GameObject* gameobj,
|
|
class RAS_MeshObject* meshobj,
|
|
class KX_Scene* kxscene,
|
|
struct PHY_ShapeProps* shapeprops,
|
|
struct PHY_MaterialProps* smmaterial,
|
|
struct KX_ObjectProperties* objprop)
|
|
{
|
|
|
|
CcdPhysicsEnvironment* env = (CcdPhysicsEnvironment*)kxscene->GetPhysicsEnvironment();
|
|
assert(env);
|
|
|
|
|
|
bool isbulletdyna = false;
|
|
CcdConstructionInfo ci;
|
|
class PHY_IMotionState* motionstate = new KX_MotionState(gameobj->GetSGNode());
|
|
|
|
if (objprop->m_ghost)
|
|
{
|
|
ci.m_collisionFlags |= CollisionObject::noContactResponse;
|
|
}
|
|
|
|
if (!objprop->m_dyna)
|
|
{
|
|
ci.m_collisionFlags |= CollisionObject::isStatic;
|
|
}
|
|
|
|
ci.m_MotionState = motionstate;
|
|
ci.m_gravity = SimdVector3(0,0,0);
|
|
ci.m_localInertiaTensor =SimdVector3(0,0,0);
|
|
ci.m_mass = objprop->m_dyna ? shapeprops->m_mass : 0.f;
|
|
isbulletdyna = objprop->m_dyna;
|
|
|
|
ci.m_localInertiaTensor = SimdVector3(ci.m_mass/3.f,ci.m_mass/3.f,ci.m_mass/3.f);
|
|
|
|
SimdTransform trans;
|
|
trans.setIdentity();
|
|
|
|
CollisionShape* bm = 0;
|
|
|
|
switch (objprop->m_boundclass)
|
|
{
|
|
case KX_BOUNDSPHERE:
|
|
{
|
|
float radius = objprop->m_radius;
|
|
SimdVector3 inertiaHalfExtents (
|
|
radius,
|
|
radius,
|
|
radius);
|
|
|
|
//blender doesn't support multisphere, but for testing:
|
|
|
|
//bm = new MultiSphereShape(inertiaHalfExtents,,&trans.getOrigin(),&radius,1);
|
|
bm = new SphereShape(objprop->m_radius);
|
|
bm->CalculateLocalInertia(ci.m_mass,ci.m_localInertiaTensor);
|
|
break;
|
|
};
|
|
case KX_BOUNDBOX:
|
|
{
|
|
MT_Vector3 halfExtents (
|
|
objprop->m_boundobject.box.m_extends[0],
|
|
objprop->m_boundobject.box.m_extends[1],
|
|
objprop->m_boundobject.box.m_extends[2]);
|
|
|
|
halfExtents /= 2.f;
|
|
|
|
//SimdVector3 he (halfExtents[0]-CONVEX_DISTANCE_MARGIN ,halfExtents[1]-CONVEX_DISTANCE_MARGIN ,halfExtents[2]-CONVEX_DISTANCE_MARGIN );
|
|
//he = he.absolute();
|
|
|
|
SimdVector3 he (halfExtents[0],halfExtents[1],halfExtents[2]);
|
|
he = he.absolute();
|
|
|
|
|
|
bm = new BoxShape(he);
|
|
bm->CalculateLocalInertia(ci.m_mass,ci.m_localInertiaTensor);
|
|
break;
|
|
};
|
|
case KX_BOUNDCYLINDER:
|
|
{
|
|
SimdVector3 halfExtents (
|
|
objprop->m_boundobject.c.m_radius,
|
|
objprop->m_boundobject.c.m_radius,
|
|
objprop->m_boundobject.c.m_height * 0.5f
|
|
);
|
|
bm = new CylinderShapeZ(halfExtents);
|
|
bm->CalculateLocalInertia(ci.m_mass,ci.m_localInertiaTensor);
|
|
|
|
break;
|
|
}
|
|
|
|
case KX_BOUNDCONE:
|
|
{
|
|
SimdVector3 halfExtents (objprop->m_boundobject.box.m_extends[0],
|
|
objprop->m_boundobject.box.m_extends[1],
|
|
objprop->m_boundobject.box.m_extends[2]);
|
|
|
|
|
|
halfExtents /= 2.f;
|
|
|
|
bm = new ConeShape(objprop->m_boundobject.c.m_radius,objprop->m_boundobject.c.m_height);
|
|
bm->CalculateLocalInertia(ci.m_mass,ci.m_localInertiaTensor);
|
|
|
|
break;
|
|
}
|
|
case KX_BOUNDPOLYTOPE:
|
|
{
|
|
bm = CreateBulletShapeFromMesh(meshobj,true);
|
|
if (bm)
|
|
{
|
|
bm->CalculateLocalInertia(ci.m_mass,ci.m_localInertiaTensor);
|
|
}
|
|
break;
|
|
}
|
|
case KX_BOUNDMESH:
|
|
{
|
|
if (!ci.m_mass)
|
|
{
|
|
bm = CreateBulletShapeFromMesh(meshobj,false);
|
|
ci.m_localInertiaTensor.setValue(0.f,0.f,0.f);
|
|
//no moving concave meshes, so don't bother calculating inertia
|
|
//bm->CalculateLocalInertia(ci.m_mass,ci.m_localInertiaTensor);
|
|
}
|
|
|
|
break;
|
|
}
|
|
|
|
default:
|
|
//interpret the shape as a concave triangle-mesh
|
|
{
|
|
if (meshobj)
|
|
{
|
|
// assert(0);
|
|
|
|
/*
|
|
meshobj->ScheduleCollisionPolygons();
|
|
|
|
KX_DeformableMesh* gfxmesh = new KX_DeformableMesh(meshobj);
|
|
gfxmesh->sendFixedMapping();
|
|
//trianglemesh
|
|
bm = new TriangleMeshInterface(gfxmesh,trans);
|
|
*/
|
|
}
|
|
}
|
|
}
|
|
|
|
|
|
// ci.m_localInertiaTensor.setValue(0.1f,0.1f,0.1f);
|
|
|
|
if (!bm)
|
|
return;
|
|
|
|
bm->SetMargin(0.06);
|
|
|
|
#ifdef TEST_SIMD_HULL
|
|
if (bm->IsPolyhedral())
|
|
{
|
|
PolyhedralConvexShape* polyhedron = static_cast<PolyhedralConvexShape*>(bm);
|
|
if (!polyhedron->m_optionalHull)
|
|
{
|
|
//first convert vertices in 'Point3' format
|
|
int numPoints = polyhedron->GetNumVertices();
|
|
Point3* points = new Point3[numPoints+1];
|
|
//first 4 points should not be co-planar, so add central point to satisfy MakeHull
|
|
points[0] = Point3(0.f,0.f,0.f);
|
|
|
|
SimdVector3 vertex;
|
|
for (int p=0;p<numPoints;p++)
|
|
{
|
|
polyhedron->GetVertex(p,vertex);
|
|
points[p+1] = Point3(vertex.getX(),vertex.getY(),vertex.getZ());
|
|
}
|
|
|
|
Hull* hull = Hull::MakeHull(numPoints+1,points);
|
|
polyhedron->m_optionalHull = hull;
|
|
}
|
|
|
|
}
|
|
#endif //TEST_SIMD_HULL
|
|
|
|
|
|
ci.m_collisionShape = bm;
|
|
|
|
|
|
|
|
ci.m_friction = smmaterial->m_friction;//tweak the friction a bit, so the default 0.5 works nice
|
|
ci.m_restitution = smmaterial->m_restitution;
|
|
ci.m_physicsEnv = env;
|
|
// drag / damping is inverted
|
|
ci.m_linearDamping = 1.f - shapeprops->m_lin_drag;
|
|
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
|
|
|
|
KX_BulletPhysicsController* physicscontroller = new KX_BulletPhysicsController(ci,isbulletdyna);
|
|
|
|
if (objprop->m_in_active_layer)
|
|
{
|
|
env->addCcdPhysicsController( physicscontroller);
|
|
}
|
|
|
|
|
|
|
|
gameobj->SetPhysicsController(physicscontroller,isbulletdyna);
|
|
physicscontroller->setNewClientInfo(gameobj->getClientInfo());
|
|
|
|
if (objprop->m_disableSleeping)
|
|
physicscontroller->GetRigidBody()->SetActivationState(DISABLE_DEACTIVATION);
|
|
|
|
if (!objprop->m_angular_rigidbody)
|
|
{
|
|
/*
|
|
//setting the inertia could achieve similar results to constraint the up
|
|
//but it is prone to instability, so use special 'Angular' constraint
|
|
SimdVector3 inertia = physicscontroller->GetRigidBody()->getInvInertiaDiagLocal();
|
|
inertia.setX(0.f);
|
|
inertia.setZ(0.f);
|
|
|
|
physicscontroller->GetRigidBody()->setInvInertiaDiagLocal(inertia);
|
|
physicscontroller->GetRigidBody()->updateInertiaTensor();
|
|
*/
|
|
|
|
env->createConstraint(physicscontroller,0,PHY_ANGULAR_CONSTRAINT,0,0,0,0,0,1);
|
|
|
|
|
|
|
|
}
|
|
|
|
bool isActor = objprop->m_isactor;
|
|
gameobj->getClientInfo()->m_type = (isActor ? KX_ClientObjectInfo::ACTOR : KX_ClientObjectInfo::STATIC);
|
|
// store materialname in auxinfo, needed for touchsensors
|
|
const STR_String& matname=meshobj->GetMaterialName(0);
|
|
gameobj->getClientInfo()->m_auxilary_info = (matname.Length() ? (void*)(matname.ReadPtr()+2) : NULL);
|
|
|
|
|
|
|
|
gameobj->GetSGNode()->AddSGController(physicscontroller);
|
|
|
|
STR_String materialname;
|
|
if (meshobj)
|
|
materialname = meshobj->GetMaterialName(0);
|
|
|
|
physicscontroller->SetObject(gameobj->GetSGNode());
|
|
|
|
}
|
|
|
|
void KX_ClearBulletSharedShapes()
|
|
{
|
|
int numshapes = map_gamemesh_to_bulletshape.size();
|
|
int i;
|
|
CollisionShape*shape=0;
|
|
for (i=0;i<numshapes ;i++)
|
|
{
|
|
shape = *map_gamemesh_to_bulletshape.at(i);
|
|
//delete shape;
|
|
}
|
|
|
|
map_gamemesh_to_bulletshape.clear();
|
|
|
|
}
|
|
|
|
#endif
|
|
|