preparation for bullet physics
This commit is contained in:
Erwin Coumans
@@ -63,6 +63,7 @@
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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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@@ -577,6 +578,10 @@ void KX_ClearSumoSharedShapes()
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map_gamemesh_to_instance.clear();
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}
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#endif //USE_SUMO_SOLID
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@@ -651,3 +656,390 @@ void KX_ConvertODEEngineObject(KX_GameObject* gameobj,
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#endif // USE_ODE
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#ifdef USE_BULLET
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#include "CcdPhysicsEnvironment.h"
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#include "CcdPhysicsController.h"
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#include "KX_BulletPhysicsController.h"
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#include "CollisionShapes/BoxShape.h"
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#include "CollisionShapes/SphereShape.h"
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#include "CollisionShapes/TriangleMeshInterface.h"
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#include "CollisionShapes/ConeShape.h"
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#include "CollisionShapes/ConvexShape.h"
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#include "CollisionShapes/CylinderShape.h"
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#include "CollisionShapes/MultiSphereShape.h"
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#include "CollisionShapes/ConvexHullShape.h"
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#include "CollisionShapes/TriangleMesh.h"
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#include "CollisionShapes/TriangleMeshShape.h"
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static GEN_Map<GEN_HashedPtr,CollisionShape*> map_gamemesh_to_bulletshape;
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// forward declarations
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static CollisionShape* CreateBulletShapeFromMesh(RAS_MeshObject* meshobj, bool polytope)
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{
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if (!meshobj)
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return 0;
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CollisionShape* collisionMeshShape = 0;
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ConvexHullShape* convexHullShape = 0;
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TriangleMeshShape* concaveShape = 0;
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TriangleMesh* collisionMeshData = 0;
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//see if there is any polygons, if not, bail out.
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int numUsedPolygons = 0;
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int numPoints = 0;
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SimdVector3* points = 0;
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CollisionShape** shapeptr = map_gamemesh_to_bulletshape[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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if (polytope)
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{
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convexHullShape = new ConvexHullShape(points,numPoints);
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collisionMeshShape = convexHullShape;
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} else
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{
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collisionMeshData = new TriangleMesh();
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concaveShape = new TriangleMeshShape(collisionMeshData);
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collisionMeshShape = concaveShape;
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}
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numvalidpolys = 0;
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for (int p2=0; p2<numpolys; p2++)
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{
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RAS_Polygon* poly = meshobj->GetPolygon(p2);
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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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//Bullet can raycast any shape, so
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if (polytope)
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{
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for (int i=0;i<poly->VertexCount();i++)
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{
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const float* vtx = meshobj->GetVertex(poly->GetVertexIndexBase().m_vtxarray,
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poly->GetVertexIndexBase().m_indexarray[i],
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poly->GetMaterial()->GetPolyMaterial())->getLocalXYZ();
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SimdPoint3 point(vtx[0],vtx[1],vtx[2]);
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convexHullShape->AddPoint(point);
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}
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if (poly->VertexCount())
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numvalidpolys++;
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} else
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{
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{
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const float* vtx = meshobj->GetVertex(poly->GetVertexIndexBase().m_vtxarray,
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poly->GetVertexIndexBase().m_indexarray[2],
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poly->GetMaterial()->GetPolyMaterial())->getLocalXYZ();
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SimdPoint3 vertex0(vtx[0],vtx[1],vtx[2]);
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vtx = meshobj->GetVertex(poly->GetVertexIndexBase().m_vtxarray,
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poly->GetVertexIndexBase().m_indexarray[1],
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poly->GetMaterial()->GetPolyMaterial())->getLocalXYZ();
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SimdPoint3 vertex1(vtx[0],vtx[1],vtx[2]);
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vtx = meshobj->GetVertex(poly->GetVertexIndexBase().m_vtxarray,
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poly->GetVertexIndexBase().m_indexarray[0],
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poly->GetMaterial()->GetPolyMaterial())->getLocalXYZ();
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SimdPoint3 vertex2(vtx[0],vtx[1],vtx[2]);
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collisionMeshData->AddTriangle(vertex0,vertex1,vertex2);
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numvalidpolys++;
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}
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if (poly->VertexCount() == 4)
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{
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const float* vtx = meshobj->GetVertex(poly->GetVertexIndexBase().m_vtxarray,
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poly->GetVertexIndexBase().m_indexarray[3],
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poly->GetMaterial()->GetPolyMaterial())->getLocalXYZ();
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SimdPoint3 vertex0(vtx[0],vtx[1],vtx[2]);
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vtx = meshobj->GetVertex(poly->GetVertexIndexBase().m_vtxarray,
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poly->GetVertexIndexBase().m_indexarray[2],
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poly->GetMaterial()->GetPolyMaterial())->getLocalXYZ();
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SimdPoint3 vertex1(vtx[0],vtx[1],vtx[2]);
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vtx = meshobj->GetVertex(poly->GetVertexIndexBase().m_vtxarray,
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poly->GetVertexIndexBase().m_indexarray[0],
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poly->GetMaterial()->GetPolyMaterial())->getLocalXYZ();
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SimdPoint3 vertex2(vtx[0],vtx[1],vtx[2]);
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collisionMeshData->AddTriangle(vertex0,vertex1,vertex2);
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numvalidpolys++;
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}
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}
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}
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}
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if (numvalidpolys > 0)
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{
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//map_gamemesh_to_bulletshape.insert(GEN_HashedPtr(meshobj),collisionMeshShape);
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return collisionMeshShape;
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}
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delete collisionMeshShape;
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return NULL;
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}
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void KX_ConvertBulletObject( class KX_GameObject* gameobj,
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class RAS_MeshObject* meshobj,
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class KX_Scene* kxscene,
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struct PHY_ShapeProps* shapeprops,
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struct PHY_MaterialProps* smmaterial,
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struct KX_ObjectProperties* objprop)
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{
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CcdPhysicsEnvironment* env = (CcdPhysicsEnvironment*)kxscene->GetPhysicsEnvironment();
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assert(env);
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bool dyna = false;
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CcdConstructionInfo ci;
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class PHY_IMotionState* motionstate = new KX_MotionState(gameobj->GetSGNode());
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ci.m_MotionState = motionstate;
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ci.m_gravity = SimdVector3(0,0,0);
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ci.m_localInertiaTensor =SimdVector3(0,0,0);
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ci.m_mass = objprop->m_dyna ? shapeprops->m_mass : 0.f;
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ci.m_localInertiaTensor = SimdVector3(ci.m_mass/3.f,ci.m_mass/3.f,ci.m_mass/3.f);
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SimdTransform trans;
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trans.setIdentity();
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CollisionShape* bm = 0;
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switch (objprop->m_boundclass)
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{
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case KX_BOUNDSPHERE:
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{
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float radius = objprop->m_radius;
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SimdVector3 inertiaHalfExtents (
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radius,
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radius,
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radius);
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//blender doesn't support multisphere, but for testing:
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//bm = new MultiSphereShape(inertiaHalfExtents,,&trans.getOrigin(),&radius,1);
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bm = new SphereShape(objprop->m_radius);
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bm->CalculateLocalInertia(ci.m_mass,ci.m_localInertiaTensor);
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break;
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};
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case KX_BOUNDBOX:
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{
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MT_Vector3 halfExtents (
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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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halfExtents /= 2.f;
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SimdVector3 he (halfExtents[0]-CONVEX_DISTANCE_MARGIN ,halfExtents[1]-CONVEX_DISTANCE_MARGIN ,halfExtents[2]-CONVEX_DISTANCE_MARGIN );
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he = he.absolute();
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bm = new BoxShape(he);
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bm->CalculateLocalInertia(ci.m_mass,ci.m_localInertiaTensor);
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break;
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};
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case KX_BOUNDCYLINDER:
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{
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SimdVector3 halfExtents (
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objprop->m_boundobject.c.m_radius,
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objprop->m_boundobject.c.m_radius,
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objprop->m_boundobject.c.m_height * 0.5f
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);
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bm = new CylinderShapeZ(halfExtents);
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bm->CalculateLocalInertia(ci.m_mass,ci.m_localInertiaTensor);
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break;
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}
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case KX_BOUNDCONE:
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{
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SimdVector3 halfExtents (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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halfExtents /= 2.f;
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SimdVector3& he = halfExtents;
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SimdTransform& tr = trans;
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bm = new ConeShape(objprop->m_boundobject.c.m_radius,objprop->m_boundobject.c.m_height);
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bm->CalculateLocalInertia(ci.m_mass,ci.m_localInertiaTensor);
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break;
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}
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case KX_BOUNDPOLYTOPE:
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{
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bm = CreateBulletShapeFromMesh(meshobj,true);
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if (bm)
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{
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bm->CalculateLocalInertia(ci.m_mass,ci.m_localInertiaTensor);
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}
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break;
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}
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case KX_BOUNDMESH:
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{
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if (!ci.m_mass)
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{
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bm = CreateBulletShapeFromMesh(meshobj,false);
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ci.m_localInertiaTensor.setValue(0.f,0.f,0.f);
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//no moving concave meshes, so don't bother calculating inertia
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//bm->CalculateLocalInertia(ci.m_mass,ci.m_localInertiaTensor);
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}
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break;
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}
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default:
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//interpret the shape as a concave triangle-mesh
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{
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if (meshobj)
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{
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// assert(0);
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/*
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meshobj->ScheduleCollisionPolygons();
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KX_DeformableMesh* gfxmesh = new KX_DeformableMesh(meshobj);
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gfxmesh->sendFixedMapping();
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//trianglemesh
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bm = new TriangleMeshInterface(gfxmesh,trans);
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*/
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}
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}
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}
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// ci.m_localInertiaTensor.setValue(0.1f,0.1f,0.1f);
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if (!bm)
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return;
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ci.m_collisionShape = bm;
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ci.m_broadphaseHandle = 0;
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ci.m_friction = smmaterial->m_friction;
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ci.m_restitution = smmaterial->m_restitution;
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ci.m_linearDamping = shapeprops->m_lin_drag;
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ci.m_angularDamping = shapeprops->m_ang_drag;
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KX_BulletPhysicsController* physicscontroller = new KX_BulletPhysicsController(ci,dyna);
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env->addCcdPhysicsController( physicscontroller);
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gameobj->SetPhysicsController(physicscontroller);
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physicscontroller->setNewClientInfo(gameobj);
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gameobj->GetSGNode()->AddSGController(physicscontroller);
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bool isActor = objprop->m_isactor;
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STR_String materialname;
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if (meshobj)
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materialname = meshobj->GetMaterialName(0);
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const char* matname = materialname.ReadPtr();
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physicscontroller->SetObject(gameobj->GetSGNode());
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}
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void KX_ClearBulletSharedShapes()
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{
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int numshapes = map_gamemesh_to_bulletshape.size();
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int i;
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CollisionShape*shape=0;
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for (i=0;i<numshapes ;i++)
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{
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shape = *map_gamemesh_to_bulletshape.at(i);
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//delete shape;
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}
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map_gamemesh_to_bulletshape.clear();
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}
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#endif
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