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test2/source/gameengine/Physics/Sumo/SumoPhysicsEnvironment.cpp

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Initial revision
2002-10-12 11:37:38 +00:00
/**
* $Id$
*
Patch from GSR that a) fixes a whole bunch of GPL/BL license blocks that were previously missed; and b) greatly increase my ohloh stats!
2008-04-16 22:40:48 +00:00
* ***** BEGIN GPL LICENSE BLOCK *****
Initial revision
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*
* This program is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
* as published by the Free Software Foundation; either version 2
Patch from GSR that a) fixes a whole bunch of GPL/BL license blocks that were previously missed; and b) greatly increase my ohloh stats!
2008-04-16 22:40:48 +00:00
* of the License, or (at your option) any later version.
Initial revision
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*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program; if not, write to the Free Software Foundation,
* Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
*
* The Original Code is Copyright (C) 2001-2002 by NaN Holding BV.
* All rights reserved.
*
* The Original Code is: all of this file.
*
* Contributor(s): none yet.
*
Patch from GSR that a) fixes a whole bunch of GPL/BL license blocks that were previously missed; and b) greatly increase my ohloh stats!
2008-04-16 22:40:48 +00:00
* ***** END GPL LICENSE BLOCK *****
Initial revision
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*/
BGE patch: KX_GameObject::rayCast() improvements to have X-Ray option, return true face normal and hit polygon information. rayCast(to,from,dist,prop,face,xray,poly): The face paremeter determines the orientation of the normal: 0 or omitted => hit normal is always oriented towards the ray origin (as if you casted the ray from outside) 1 => hit normal is the real face normal (only for mesh object, otherwise face has no effect) The ray has X-Ray capability if xray parameter is 1, otherwise the first object hit (other than self object) stops the ray. The prop and xray parameters interact as follow: prop off, xray off: return closest hit or no hit if there is no object on the full extend of the ray. prop off, xray on : idem. prop on, xray off: return closest hit if it matches prop, no hit otherwise. prop on, xray on : return closest hit matching prop or no hit if there is no object matching prop on the full extend of the ray. if poly is 0 or omitted, returns a 3-tuple with object reference, hit point and hit normal or (None,None,None) if no hit. if poly is 1, returns a 4-tuple with in addition a KX_PolyProxy as 4th element. The KX_PolyProxy object holds information on the polygon hit by the ray: the index of the vertex forming the poylgon, material, etc. Attributes (read-only): matname: The name of polygon material, empty if no material. material: The material of the polygon texture: The texture name of the polygon. matid: The material index of the polygon, use this to retrieve vertex proxy from mesh proxy v1: vertex index of the first vertex of the polygon, use this to retrieve vertex proxy from mesh proxy v2: vertex index of the second vertex of the polygon, use this to retrieve vertex proxy from mesh proxy v3: vertex index of the third vertex of the polygon, use this to retrieve vertex proxy from mesh proxy v4: vertex index of the fourth vertex of the polygon, 0 if polygon has only 3 vertex use this to retrieve vertex proxy from mesh proxy visible: visible state of the polygon: 1=visible, 0=invisible collide: collide state of the polygon: 1=receives collision, 0=collision free. Methods: getMaterialName(): Returns the polygon material name with MA prefix getMaterial(): Returns the polygon material getTextureName(): Returns the polygon texture name getMaterialIndex(): Returns the material bucket index of the polygon. getNumVertex(): Returns the number of vertex of the polygon. isVisible(): Returns whether the polygon is visible or not isCollider(): Returns whether the polygon is receives collision or not getVertexIndex(vertex): Returns the mesh vertex index of a polygon vertex getMesh(): Returns a mesh proxy New methods of KX_MeshProxy have been implemented to retrieve KX_PolyProxy objects: getNumPolygons(): Returns the number of polygon in the mesh. getPolygon(index): Gets the specified polygon from the mesh. More details in PyDoc.
2008-08-27 19:34:19 +00:00
#include <string.h> // memset
Initial revision
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#include "SumoPhysicsEnvironment.h"
#include "PHY_IMotionState.h"
#include "SumoPhysicsController.h"
#include "SM_Scene.h"
Big patches: Erwin Coumans: Abstract the physics engine Charlie C: Joystick fixes Me: Moved the ray cast (shadows, mouse sensor & ray sensor)
2005-03-25 10:33:39 +00:00
#include "SumoPHYCallbackBridge.h"
#include <SOLID/SOLID.h>
Initial revision
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SumoPhysicsEnvironment::SumoPhysicsEnvironment()
{
Big patches: Erwin Coumans: Abstract the physics engine Charlie C: Joystick fixes Me: Moved the ray cast (shadows, mouse sensor & ray sensor)
2005-03-25 10:33:39 +00:00
m_fixedTimeStep = 1.f/60.f;
m_useFixedTimeStep = true;
m_currentTime = 0.f;
Initial revision
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m_sumoScene = new SM_Scene();
}
SumoPhysicsEnvironment::~SumoPhysicsEnvironment()
{
delete m_sumoScene;
}
Switch fixed time system. Logic updates should now happen at 30Hz, physics at 60Hz. (By default, use Python to set.) Some actuators still run at framerate (IPO, Action) for nice smooth animation, and an excuse to buy high end hardware. Keyboard sensors can now hook escape key. Ctrl-Break can be used from within blender if you've forgotten an end game actuator. Fixed a stupid bug preventing some actuators working (like TrackTo).
2004-10-16 11:41:50 +00:00
Speed up the physics engine: hook the SOLID broad phase, so we can either reject the test or request the penetration depth test as necessary. Previously we were doing the penetration depth test, as well as SOLID's intersection test.
2004-11-06 04:58:10 +00:00
void SumoPhysicsEnvironment::beginFrame()
Switch fixed time system. Logic updates should now happen at 30Hz, physics at 60Hz. (By default, use Python to set.) Some actuators still run at framerate (IPO, Action) for nice smooth animation, and an excuse to buy high end hardware. Keyboard sensors can now hook escape key. Ctrl-Break can be used from within blender if you've forgotten an end game actuator. Fixed a stupid bug preventing some actuators working (like TrackTo).
2004-10-16 11:41:50 +00:00
{
Speed up the physics engine: hook the SOLID broad phase, so we can either reject the test or request the penetration depth test as necessary. Previously we were doing the penetration depth test, as well as SOLID's intersection test.
2004-11-06 04:58:10 +00:00
m_sumoScene->beginFrame();
}
void SumoPhysicsEnvironment::endFrame()
{
m_sumoScene->endFrame();
}
Big patches: Erwin Coumans: Abstract the physics engine Charlie C: Joystick fixes Me: Moved the ray cast (shadows, mouse sensor & ray sensor)
2005-03-25 10:33:39 +00:00
void SumoPhysicsEnvironment::setFixedTimeStep(bool useFixedTimeStep,float fixedTimeStep)
Speed up the physics engine: hook the SOLID broad phase, so we can either reject the test or request the penetration depth test as necessary. Previously we were doing the penetration depth test, as well as SOLID's intersection test.
2004-11-06 04:58:10 +00:00
{
Big patches: Erwin Coumans: Abstract the physics engine Charlie C: Joystick fixes Me: Moved the ray cast (shadows, mouse sensor & ray sensor)
2005-03-25 10:33:39 +00:00
m_useFixedTimeStep = useFixedTimeStep;
if (m_useFixedTimeStep)
{
m_fixedTimeStep = fixedTimeStep;
} else
{
m_fixedTimeStep = 0.f;
}
//reset current time ?
m_currentTime = 0.f;
}
float SumoPhysicsEnvironment::getFixedTimeStep()
{
return m_fixedTimeStep;
}
BGE: New function GameLogic.setMaxLogicFrame() to allow better control over the time spent on logic. This function sets the maximum number of logic frame executed per render frame. Valid values: 1..5 This function is useful to control the amount of processing consumed by logic. By default, up to 5 logic frames can be executed per render frame. This is fine as long as the time spent on logic is negligible compared to the render time. If it's not the case, the default value will drag the performance of the game down by executing unnecessary logic frames that take up most of the CPU time. You can avoid that by lowering the value with this function. The drawback is less precision in the logic system to physics and I/O activity. Note that it does not affect the physics system: physics will still run at full frame rate (actually up to 5 times the ticrate). You can further control the render frame rate with GameLogic.setLogicTicRate().
2009-05-01 16:35:06 +00:00
bool SumoPhysicsEnvironment::proceedDeltaTime(double curTime,float timeStep,float interval)
Big patches: Erwin Coumans: Abstract the physics engine Charlie C: Joystick fixes Me: Moved the ray cast (shadows, mouse sensor & ray sensor)
2005-03-25 10:33:39 +00:00
{
bool result = false;
if (m_useFixedTimeStep)
{
m_currentTime += timeStep;
float ticrate = 1.f/m_fixedTimeStep;
result = m_sumoScene->proceed(curTime, ticrate);
} else
{
m_currentTime += timeStep;
result = m_sumoScene->proceed(m_currentTime, timeStep);
}
return result;
Initial revision
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}
void SumoPhysicsEnvironment::setGravity(float x,float y,float z)
{
m_sumoScene->setForceField(MT_Vector3(x,y,z));
}
Rigid body physics for non spherical bounding objects. If your simulation becomes unstable, crank up the 'Form' control. Removed Solid from class SumoPhysicsEnvironment (since it wasn't actually used.)
2004-04-14 05:57:24 +00:00
int SumoPhysicsEnvironment::createConstraint(
class PHY_IPhysicsController* ctrl,
class PHY_IPhysicsController* ctrl2,
PHY_ConstraintType type,
float pivotX,float pivotY,float pivotZ,
contribution from RCRuiz: drawing of rigidbody constraint pivots, and allow passing of full constraint frame.
2006-12-16 05:50:38 +00:00
float axisX,float axisY,float axisZ,
float axis1X,float axis1Y,float axis1Z,
Fix bug in rigid body constraint buttons drawing, and while we are at it, add 'Collision' button to disable collisions between bodies, linked between constraint.
2008-10-10 05:12:57 +00:00
float axis2X,float axis2Y,float axis2Z,
int flag
contribution from RCRuiz: drawing of rigidbody constraint pivots, and allow passing of full constraint frame.
2006-12-16 05:50:38 +00:00
)
Initial revision
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{
int constraintid = 0;
return constraintid;
}
more graphics patches from Snailrose, remove constraint fixed, Bullet timestep now subdivides Blender game engine timestep, so it runs 60 hertz, SphereShape reverted to old style, so no support for non-uniform scaled spheres for now,
2006-01-15 11:34:55 +00:00
void SumoPhysicsEnvironment::removeConstraint(int constraintid)
Initial revision
2002-10-12 11:37:38 +00:00
{
if (constraintid)
{
}
}
BGE patch: KX_GameObject::rayCast() improvements to have X-Ray option, return true face normal and hit polygon information. rayCast(to,from,dist,prop,face,xray,poly): The face paremeter determines the orientation of the normal: 0 or omitted => hit normal is always oriented towards the ray origin (as if you casted the ray from outside) 1 => hit normal is the real face normal (only for mesh object, otherwise face has no effect) The ray has X-Ray capability if xray parameter is 1, otherwise the first object hit (other than self object) stops the ray. The prop and xray parameters interact as follow: prop off, xray off: return closest hit or no hit if there is no object on the full extend of the ray. prop off, xray on : idem. prop on, xray off: return closest hit if it matches prop, no hit otherwise. prop on, xray on : return closest hit matching prop or no hit if there is no object matching prop on the full extend of the ray. if poly is 0 or omitted, returns a 3-tuple with object reference, hit point and hit normal or (None,None,None) if no hit. if poly is 1, returns a 4-tuple with in addition a KX_PolyProxy as 4th element. The KX_PolyProxy object holds information on the polygon hit by the ray: the index of the vertex forming the poylgon, material, etc. Attributes (read-only): matname: The name of polygon material, empty if no material. material: The material of the polygon texture: The texture name of the polygon. matid: The material index of the polygon, use this to retrieve vertex proxy from mesh proxy v1: vertex index of the first vertex of the polygon, use this to retrieve vertex proxy from mesh proxy v2: vertex index of the second vertex of the polygon, use this to retrieve vertex proxy from mesh proxy v3: vertex index of the third vertex of the polygon, use this to retrieve vertex proxy from mesh proxy v4: vertex index of the fourth vertex of the polygon, 0 if polygon has only 3 vertex use this to retrieve vertex proxy from mesh proxy visible: visible state of the polygon: 1=visible, 0=invisible collide: collide state of the polygon: 1=receives collision, 0=collision free. Methods: getMaterialName(): Returns the polygon material name with MA prefix getMaterial(): Returns the polygon material getTextureName(): Returns the polygon texture name getMaterialIndex(): Returns the material bucket index of the polygon. getNumVertex(): Returns the number of vertex of the polygon. isVisible(): Returns whether the polygon is visible or not isCollider(): Returns whether the polygon is receives collision or not getVertexIndex(vertex): Returns the mesh vertex index of a polygon vertex getMesh(): Returns a mesh proxy New methods of KX_MeshProxy have been implemented to retrieve KX_PolyProxy objects: getNumPolygons(): Returns the number of polygon in the mesh. getPolygon(index): Gets the specified polygon from the mesh. More details in PyDoc.
2008-08-27 19:34:19 +00:00
PHY_IPhysicsController* SumoPhysicsEnvironment::rayTest(PHY_IRayCastFilterCallback &filterCallback,
[GameEngine] Commit all Kester's changes made to the gameengine to restore 2.25 like physics. [SCons] Build with Solid as default when enabling the gameengine in the build process [SCons] Build solid and qhull from the extern directory and link statically against them That was about it. There are a few things that needs double checking: * Makefiles * Projectfiles * All the other systems than Linux and Windows on which the build (with scons) has been successfully tested.
2004-03-22 22:02:18 +00:00
float fromX,float fromY,float fromZ,
BGE patch: KX_GameObject::rayCast() improvements to have X-Ray option, return true face normal and hit polygon information. rayCast(to,from,dist,prop,face,xray,poly): The face paremeter determines the orientation of the normal: 0 or omitted => hit normal is always oriented towards the ray origin (as if you casted the ray from outside) 1 => hit normal is the real face normal (only for mesh object, otherwise face has no effect) The ray has X-Ray capability if xray parameter is 1, otherwise the first object hit (other than self object) stops the ray. The prop and xray parameters interact as follow: prop off, xray off: return closest hit or no hit if there is no object on the full extend of the ray. prop off, xray on : idem. prop on, xray off: return closest hit if it matches prop, no hit otherwise. prop on, xray on : return closest hit matching prop or no hit if there is no object matching prop on the full extend of the ray. if poly is 0 or omitted, returns a 3-tuple with object reference, hit point and hit normal or (None,None,None) if no hit. if poly is 1, returns a 4-tuple with in addition a KX_PolyProxy as 4th element. The KX_PolyProxy object holds information on the polygon hit by the ray: the index of the vertex forming the poylgon, material, etc. Attributes (read-only): matname: The name of polygon material, empty if no material. material: The material of the polygon texture: The texture name of the polygon. matid: The material index of the polygon, use this to retrieve vertex proxy from mesh proxy v1: vertex index of the first vertex of the polygon, use this to retrieve vertex proxy from mesh proxy v2: vertex index of the second vertex of the polygon, use this to retrieve vertex proxy from mesh proxy v3: vertex index of the third vertex of the polygon, use this to retrieve vertex proxy from mesh proxy v4: vertex index of the fourth vertex of the polygon, 0 if polygon has only 3 vertex use this to retrieve vertex proxy from mesh proxy visible: visible state of the polygon: 1=visible, 0=invisible collide: collide state of the polygon: 1=receives collision, 0=collision free. Methods: getMaterialName(): Returns the polygon material name with MA prefix getMaterial(): Returns the polygon material getTextureName(): Returns the polygon texture name getMaterialIndex(): Returns the material bucket index of the polygon. getNumVertex(): Returns the number of vertex of the polygon. isVisible(): Returns whether the polygon is visible or not isCollider(): Returns whether the polygon is receives collision or not getVertexIndex(vertex): Returns the mesh vertex index of a polygon vertex getMesh(): Returns a mesh proxy New methods of KX_MeshProxy have been implemented to retrieve KX_PolyProxy objects: getNumPolygons(): Returns the number of polygon in the mesh. getPolygon(index): Gets the specified polygon from the mesh. More details in PyDoc.
2008-08-27 19:34:19 +00:00
float toX,float toY,float toZ)
Initial revision
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{
BGE patch: KX_GameObject::rayCast() improvements to have X-Ray option, return true face normal and hit polygon information. rayCast(to,from,dist,prop,face,xray,poly): The face paremeter determines the orientation of the normal: 0 or omitted => hit normal is always oriented towards the ray origin (as if you casted the ray from outside) 1 => hit normal is the real face normal (only for mesh object, otherwise face has no effect) The ray has X-Ray capability if xray parameter is 1, otherwise the first object hit (other than self object) stops the ray. The prop and xray parameters interact as follow: prop off, xray off: return closest hit or no hit if there is no object on the full extend of the ray. prop off, xray on : idem. prop on, xray off: return closest hit if it matches prop, no hit otherwise. prop on, xray on : return closest hit matching prop or no hit if there is no object matching prop on the full extend of the ray. if poly is 0 or omitted, returns a 3-tuple with object reference, hit point and hit normal or (None,None,None) if no hit. if poly is 1, returns a 4-tuple with in addition a KX_PolyProxy as 4th element. The KX_PolyProxy object holds information on the polygon hit by the ray: the index of the vertex forming the poylgon, material, etc. Attributes (read-only): matname: The name of polygon material, empty if no material. material: The material of the polygon texture: The texture name of the polygon. matid: The material index of the polygon, use this to retrieve vertex proxy from mesh proxy v1: vertex index of the first vertex of the polygon, use this to retrieve vertex proxy from mesh proxy v2: vertex index of the second vertex of the polygon, use this to retrieve vertex proxy from mesh proxy v3: vertex index of the third vertex of the polygon, use this to retrieve vertex proxy from mesh proxy v4: vertex index of the fourth vertex of the polygon, 0 if polygon has only 3 vertex use this to retrieve vertex proxy from mesh proxy visible: visible state of the polygon: 1=visible, 0=invisible collide: collide state of the polygon: 1=receives collision, 0=collision free. Methods: getMaterialName(): Returns the polygon material name with MA prefix getMaterial(): Returns the polygon material getTextureName(): Returns the polygon texture name getMaterialIndex(): Returns the material bucket index of the polygon. getNumVertex(): Returns the number of vertex of the polygon. isVisible(): Returns whether the polygon is visible or not isCollider(): Returns whether the polygon is receives collision or not getVertexIndex(vertex): Returns the mesh vertex index of a polygon vertex getMesh(): Returns a mesh proxy New methods of KX_MeshProxy have been implemented to retrieve KX_PolyProxy objects: getNumPolygons(): Returns the number of polygon in the mesh. getPolygon(index): Gets the specified polygon from the mesh. More details in PyDoc.
2008-08-27 19:34:19 +00:00
SumoPhysicsController* ignoreCtr = static_cast<SumoPhysicsController*> (filterCallback.m_ignoreController);
Big patches: Erwin Coumans: Abstract the physics engine Charlie C: Joystick fixes Me: Moved the ray cast (shadows, mouse sensor & ray sensor)
2005-03-25 10:33:39 +00:00
Initial revision
2002-10-12 11:37:38 +00:00
//collision detection / raytesting
[GameEngine] Commit all Kester's changes made to the gameengine to restore 2.25 like physics. [SCons] Build with Solid as default when enabling the gameengine in the build process [SCons] Build solid and qhull from the extern directory and link statically against them That was about it. There are a few things that needs double checking: * Makefiles * Projectfiles * All the other systems than Linux and Windows on which the build (with scons) has been successfully tested.
2004-03-22 22:02:18 +00:00
MT_Point3 hit, normal;
BGE patch: KX_GameObject::rayCast() improvements to have X-Ray option, return true face normal and hit polygon information. rayCast(to,from,dist,prop,face,xray,poly): The face paremeter determines the orientation of the normal: 0 or omitted => hit normal is always oriented towards the ray origin (as if you casted the ray from outside) 1 => hit normal is the real face normal (only for mesh object, otherwise face has no effect) The ray has X-Ray capability if xray parameter is 1, otherwise the first object hit (other than self object) stops the ray. The prop and xray parameters interact as follow: prop off, xray off: return closest hit or no hit if there is no object on the full extend of the ray. prop off, xray on : idem. prop on, xray off: return closest hit if it matches prop, no hit otherwise. prop on, xray on : return closest hit matching prop or no hit if there is no object matching prop on the full extend of the ray. if poly is 0 or omitted, returns a 3-tuple with object reference, hit point and hit normal or (None,None,None) if no hit. if poly is 1, returns a 4-tuple with in addition a KX_PolyProxy as 4th element. The KX_PolyProxy object holds information on the polygon hit by the ray: the index of the vertex forming the poylgon, material, etc. Attributes (read-only): matname: The name of polygon material, empty if no material. material: The material of the polygon texture: The texture name of the polygon. matid: The material index of the polygon, use this to retrieve vertex proxy from mesh proxy v1: vertex index of the first vertex of the polygon, use this to retrieve vertex proxy from mesh proxy v2: vertex index of the second vertex of the polygon, use this to retrieve vertex proxy from mesh proxy v3: vertex index of the third vertex of the polygon, use this to retrieve vertex proxy from mesh proxy v4: vertex index of the fourth vertex of the polygon, 0 if polygon has only 3 vertex use this to retrieve vertex proxy from mesh proxy visible: visible state of the polygon: 1=visible, 0=invisible collide: collide state of the polygon: 1=receives collision, 0=collision free. Methods: getMaterialName(): Returns the polygon material name with MA prefix getMaterial(): Returns the polygon material getTextureName(): Returns the polygon texture name getMaterialIndex(): Returns the material bucket index of the polygon. getNumVertex(): Returns the number of vertex of the polygon. isVisible(): Returns whether the polygon is visible or not isCollider(): Returns whether the polygon is receives collision or not getVertexIndex(vertex): Returns the mesh vertex index of a polygon vertex getMesh(): Returns a mesh proxy New methods of KX_MeshProxy have been implemented to retrieve KX_PolyProxy objects: getNumPolygons(): Returns the number of polygon in the mesh. getPolygon(index): Gets the specified polygon from the mesh. More details in PyDoc.
2008-08-27 19:34:19 +00:00
PHY_RayCastResult result;
Big patches: Erwin Coumans: Abstract the physics engine Charlie C: Joystick fixes Me: Moved the ray cast (shadows, mouse sensor & ray sensor)
2005-03-25 10:33:39 +00:00
SM_Object* sm_ignore = 0;
if (ignoreCtr)
sm_ignore = ignoreCtr->GetSumoObject();
BGE patch: KX_GameObject::rayCast() improvements to have X-Ray option, return true face normal and hit polygon information. rayCast(to,from,dist,prop,face,xray,poly): The face paremeter determines the orientation of the normal: 0 or omitted => hit normal is always oriented towards the ray origin (as if you casted the ray from outside) 1 => hit normal is the real face normal (only for mesh object, otherwise face has no effect) The ray has X-Ray capability if xray parameter is 1, otherwise the first object hit (other than self object) stops the ray. The prop and xray parameters interact as follow: prop off, xray off: return closest hit or no hit if there is no object on the full extend of the ray. prop off, xray on : idem. prop on, xray off: return closest hit if it matches prop, no hit otherwise. prop on, xray on : return closest hit matching prop or no hit if there is no object matching prop on the full extend of the ray. if poly is 0 or omitted, returns a 3-tuple with object reference, hit point and hit normal or (None,None,None) if no hit. if poly is 1, returns a 4-tuple with in addition a KX_PolyProxy as 4th element. The KX_PolyProxy object holds information on the polygon hit by the ray: the index of the vertex forming the poylgon, material, etc. Attributes (read-only): matname: The name of polygon material, empty if no material. material: The material of the polygon texture: The texture name of the polygon. matid: The material index of the polygon, use this to retrieve vertex proxy from mesh proxy v1: vertex index of the first vertex of the polygon, use this to retrieve vertex proxy from mesh proxy v2: vertex index of the second vertex of the polygon, use this to retrieve vertex proxy from mesh proxy v3: vertex index of the third vertex of the polygon, use this to retrieve vertex proxy from mesh proxy v4: vertex index of the fourth vertex of the polygon, 0 if polygon has only 3 vertex use this to retrieve vertex proxy from mesh proxy visible: visible state of the polygon: 1=visible, 0=invisible collide: collide state of the polygon: 1=receives collision, 0=collision free. Methods: getMaterialName(): Returns the polygon material name with MA prefix getMaterial(): Returns the polygon material getTextureName(): Returns the polygon texture name getMaterialIndex(): Returns the material bucket index of the polygon. getNumVertex(): Returns the number of vertex of the polygon. isVisible(): Returns whether the polygon is visible or not isCollider(): Returns whether the polygon is receives collision or not getVertexIndex(vertex): Returns the mesh vertex index of a polygon vertex getMesh(): Returns a mesh proxy New methods of KX_MeshProxy have been implemented to retrieve KX_PolyProxy objects: getNumPolygons(): Returns the number of polygon in the mesh. getPolygon(index): Gets the specified polygon from the mesh. More details in PyDoc.
2008-08-27 19:34:19 +00:00
memset(&result, 0, sizeof(result));
Big patches: Erwin Coumans: Abstract the physics engine Charlie C: Joystick fixes Me: Moved the ray cast (shadows, mouse sensor & ray sensor)
2005-03-25 10:33:39 +00:00
SM_Object* smOb = m_sumoScene->rayTest(sm_ignore,MT_Point3(fromX, fromY, fromZ),MT_Point3(toX, toY, toZ), hit, normal);
if (smOb)
{
BGE patch: KX_GameObject::rayCast() improvements to have X-Ray option, return true face normal and hit polygon information. rayCast(to,from,dist,prop,face,xray,poly): The face paremeter determines the orientation of the normal: 0 or omitted => hit normal is always oriented towards the ray origin (as if you casted the ray from outside) 1 => hit normal is the real face normal (only for mesh object, otherwise face has no effect) The ray has X-Ray capability if xray parameter is 1, otherwise the first object hit (other than self object) stops the ray. The prop and xray parameters interact as follow: prop off, xray off: return closest hit or no hit if there is no object on the full extend of the ray. prop off, xray on : idem. prop on, xray off: return closest hit if it matches prop, no hit otherwise. prop on, xray on : return closest hit matching prop or no hit if there is no object matching prop on the full extend of the ray. if poly is 0 or omitted, returns a 3-tuple with object reference, hit point and hit normal or (None,None,None) if no hit. if poly is 1, returns a 4-tuple with in addition a KX_PolyProxy as 4th element. The KX_PolyProxy object holds information on the polygon hit by the ray: the index of the vertex forming the poylgon, material, etc. Attributes (read-only): matname: The name of polygon material, empty if no material. material: The material of the polygon texture: The texture name of the polygon. matid: The material index of the polygon, use this to retrieve vertex proxy from mesh proxy v1: vertex index of the first vertex of the polygon, use this to retrieve vertex proxy from mesh proxy v2: vertex index of the second vertex of the polygon, use this to retrieve vertex proxy from mesh proxy v3: vertex index of the third vertex of the polygon, use this to retrieve vertex proxy from mesh proxy v4: vertex index of the fourth vertex of the polygon, 0 if polygon has only 3 vertex use this to retrieve vertex proxy from mesh proxy visible: visible state of the polygon: 1=visible, 0=invisible collide: collide state of the polygon: 1=receives collision, 0=collision free. Methods: getMaterialName(): Returns the polygon material name with MA prefix getMaterial(): Returns the polygon material getTextureName(): Returns the polygon texture name getMaterialIndex(): Returns the material bucket index of the polygon. getNumVertex(): Returns the number of vertex of the polygon. isVisible(): Returns whether the polygon is visible or not isCollider(): Returns whether the polygon is receives collision or not getVertexIndex(vertex): Returns the mesh vertex index of a polygon vertex getMesh(): Returns a mesh proxy New methods of KX_MeshProxy have been implemented to retrieve KX_PolyProxy objects: getNumPolygons(): Returns the number of polygon in the mesh. getPolygon(index): Gets the specified polygon from the mesh. More details in PyDoc.
2008-08-27 19:34:19 +00:00
result.m_controller = (PHY_IPhysicsController *) smOb->getPhysicsClientObject();
result.m_hitPoint[0] = hit[0];
result.m_hitPoint[1] = hit[1];
result.m_hitPoint[2] = hit[2];
result.m_hitNormal[0] = normal[0];
result.m_hitNormal[1] = normal[1];
result.m_hitNormal[2] = normal[2];
filterCallback.reportHit(&result);
Big patches: Erwin Coumans: Abstract the physics engine Charlie C: Joystick fixes Me: Moved the ray cast (shadows, mouse sensor & ray sensor)
2005-03-25 10:33:39 +00:00
}
BGE patch: KX_GameObject::rayCast() improvements to have X-Ray option, return true face normal and hit polygon information. rayCast(to,from,dist,prop,face,xray,poly): The face paremeter determines the orientation of the normal: 0 or omitted => hit normal is always oriented towards the ray origin (as if you casted the ray from outside) 1 => hit normal is the real face normal (only for mesh object, otherwise face has no effect) The ray has X-Ray capability if xray parameter is 1, otherwise the first object hit (other than self object) stops the ray. The prop and xray parameters interact as follow: prop off, xray off: return closest hit or no hit if there is no object on the full extend of the ray. prop off, xray on : idem. prop on, xray off: return closest hit if it matches prop, no hit otherwise. prop on, xray on : return closest hit matching prop or no hit if there is no object matching prop on the full extend of the ray. if poly is 0 or omitted, returns a 3-tuple with object reference, hit point and hit normal or (None,None,None) if no hit. if poly is 1, returns a 4-tuple with in addition a KX_PolyProxy as 4th element. The KX_PolyProxy object holds information on the polygon hit by the ray: the index of the vertex forming the poylgon, material, etc. Attributes (read-only): matname: The name of polygon material, empty if no material. material: The material of the polygon texture: The texture name of the polygon. matid: The material index of the polygon, use this to retrieve vertex proxy from mesh proxy v1: vertex index of the first vertex of the polygon, use this to retrieve vertex proxy from mesh proxy v2: vertex index of the second vertex of the polygon, use this to retrieve vertex proxy from mesh proxy v3: vertex index of the third vertex of the polygon, use this to retrieve vertex proxy from mesh proxy v4: vertex index of the fourth vertex of the polygon, 0 if polygon has only 3 vertex use this to retrieve vertex proxy from mesh proxy visible: visible state of the polygon: 1=visible, 0=invisible collide: collide state of the polygon: 1=receives collision, 0=collision free. Methods: getMaterialName(): Returns the polygon material name with MA prefix getMaterial(): Returns the polygon material getTextureName(): Returns the polygon texture name getMaterialIndex(): Returns the material bucket index of the polygon. getNumVertex(): Returns the number of vertex of the polygon. isVisible(): Returns whether the polygon is visible or not isCollider(): Returns whether the polygon is receives collision or not getVertexIndex(vertex): Returns the mesh vertex index of a polygon vertex getMesh(): Returns a mesh proxy New methods of KX_MeshProxy have been implemented to retrieve KX_PolyProxy objects: getNumPolygons(): Returns the number of polygon in the mesh. getPolygon(index): Gets the specified polygon from the mesh. More details in PyDoc.
2008-08-27 19:34:19 +00:00
return result.m_controller;
Initial revision
2002-10-12 11:37:38 +00:00
}
Big patches: Erwin Coumans: Abstract the physics engine Charlie C: Joystick fixes Me: Moved the ray cast (shadows, mouse sensor & ray sensor)
2005-03-25 10:33:39 +00:00
//gamelogic callbacks
void SumoPhysicsEnvironment::addSensor(PHY_IPhysicsController* ctrl)
{
SumoPhysicsController* smctrl = dynamic_cast<SumoPhysicsController*>(ctrl);
SM_Object* smObject = smctrl->GetSumoObject();
assert(smObject);
if (smObject)
{
m_sumoScene->addSensor(*smObject);
}
}
void SumoPhysicsEnvironment::removeSensor(PHY_IPhysicsController* ctrl)
{
SumoPhysicsController* smctrl = dynamic_cast<SumoPhysicsController*>(ctrl);
SM_Object* smObject = smctrl->GetSumoObject();
assert(smObject);
if (smObject)
{
m_sumoScene->remove(*smObject);
}
}
void SumoPhysicsEnvironment::addTouchCallback(int response_class, PHY_ResponseCallback callback, void *user)
{
int sumoRespClass = 0;
//map PHY_ convention into SM_ convention
switch (response_class)
{
case PHY_FH_RESPONSE:
sumoRespClass = FH_RESPONSE;
break;
case PHY_SENSOR_RESPONSE:
sumoRespClass = SENSOR_RESPONSE;
break;
case PHY_CAMERA_RESPONSE:
sumoRespClass =CAMERA_RESPONSE;
break;
case PHY_OBJECT_RESPONSE:
sumoRespClass = OBJECT_RESPONSE;
break;
case PHY_STATIC_RESPONSE:
sumoRespClass = PHY_STATIC_RESPONSE;
break;
Radar/Near sensor performance problem fixed
2008-03-01 19:17:37 +00:00
case PHY_BROADPH_RESPONSE:
return;
Big patches: Erwin Coumans: Abstract the physics engine Charlie C: Joystick fixes Me: Moved the ray cast (shadows, mouse sensor & ray sensor)
2005-03-25 10:33:39 +00:00
default:
assert(0);
return;
}
SumoPHYCallbackBridge* bridge = new SumoPHYCallbackBridge(user,callback);
m_sumoScene->addTouchCallback(sumoRespClass,SumoPHYCallbackBridge::StaticSolidToPHYCallback,bridge);
}
BGE: new sensor object to generalize Near and Radar sensor, static-static collision capbility. A new type of "Sensor" physics object is available in the GE for advanced collision management. It's called Sensor for its similarities with the physics objects that underlie the Near and Radar sensors. Like the Near and Radar object it is: - static and ghost - invisible by default - always active to ensure correct collision detection - capable of detecting both static and dynamic objects - ignoring collision with their parent - capable of broadphase filtering based on: * Actor option: the collisioning object must have the Actor flag set to be detected * property/material: as specified in the collision sensors attached to it Broadphase filtering is important for performance reason: the collision points will be computed only for the objects that pass the broahphase filter. - automatically removed from the simulation when no collision sensor is active on it Unlike the Near and Radar object it can: - take any shape, including triangle mesh - be made visible for debugging (just use the Visible actuator) - have multiple collision sensors using it Other than that, the sensor objects are ordinary objects. You can move them freely or parent them. When parented to a dynamic object, they can provide advanced collision control to this object. The type of collision capability depends on the shape: - box, sphere, cylinder, cone, convex hull provide volume detection. - triangle mesh provides surface detection but you can give some volume to the suface by increasing the margin in the Advanced Settings panel. The margin applies on both sides of the surface. Performance tip: - Sensor objects perform better than Near and Radar: they do less synchronizations because of the Scenegraph optimizations and they can have multiple collision sensors on them (with different property filtering for example). - Always prefer simple shape (box, sphere) to complex shape whenever possible. - Always use broadphase filtering (avoid collision sensor with empty propery/material) - Use collision sensor only when you need them. When no collision sensor is active on the sensor object, it is removed from the simulation and consume no CPU. Known limitations: - When running Blender in debug mode, you will see one warning line of the console: "warning btCollisionDispatcher::needsCollision: static-static collision!" In release mode this message is not printed. - Collision margin has no effect on sphere, cone and cylinder shape. Other performance improvements: - Remove unnecessary interpolation for Near and Radar objects and by extension sensor objects. - Use direct matrix copy instead of quaternion to synchronize orientation. Other bug fix: - Fix Near/Radar position error on newly activated objects. This was causing several detection problems in YoFrankie - Fix margin not passed correctly to gImpact shape. - Disable force/velocity actions on static objects
2009-05-17 12:51:51 +00:00
bool SumoPhysicsEnvironment::requestCollisionCallback(PHY_IPhysicsController* ctrl)
Big patches: Erwin Coumans: Abstract the physics engine Charlie C: Joystick fixes Me: Moved the ray cast (shadows, mouse sensor & ray sensor)
2005-03-25 10:33:39 +00:00
{
SumoPhysicsController* smctrl = dynamic_cast<SumoPhysicsController*>(ctrl);
MT_assert(smctrl);
SM_Object* smObject = smctrl->GetSumoObject();
MT_assert(smObject);
if (smObject)
{
//assert(smObject->getPhysicsClientObject() == ctrl);
smObject->setPhysicsClientObject(ctrl);
m_sumoScene->requestCollisionCallback(*smObject);
BGE: new sensor object to generalize Near and Radar sensor, static-static collision capbility. A new type of "Sensor" physics object is available in the GE for advanced collision management. It's called Sensor for its similarities with the physics objects that underlie the Near and Radar sensors. Like the Near and Radar object it is: - static and ghost - invisible by default - always active to ensure correct collision detection - capable of detecting both static and dynamic objects - ignoring collision with their parent - capable of broadphase filtering based on: * Actor option: the collisioning object must have the Actor flag set to be detected * property/material: as specified in the collision sensors attached to it Broadphase filtering is important for performance reason: the collision points will be computed only for the objects that pass the broahphase filter. - automatically removed from the simulation when no collision sensor is active on it Unlike the Near and Radar object it can: - take any shape, including triangle mesh - be made visible for debugging (just use the Visible actuator) - have multiple collision sensors using it Other than that, the sensor objects are ordinary objects. You can move them freely or parent them. When parented to a dynamic object, they can provide advanced collision control to this object. The type of collision capability depends on the shape: - box, sphere, cylinder, cone, convex hull provide volume detection. - triangle mesh provides surface detection but you can give some volume to the suface by increasing the margin in the Advanced Settings panel. The margin applies on both sides of the surface. Performance tip: - Sensor objects perform better than Near and Radar: they do less synchronizations because of the Scenegraph optimizations and they can have multiple collision sensors on them (with different property filtering for example). - Always prefer simple shape (box, sphere) to complex shape whenever possible. - Always use broadphase filtering (avoid collision sensor with empty propery/material) - Use collision sensor only when you need them. When no collision sensor is active on the sensor object, it is removed from the simulation and consume no CPU. Known limitations: - When running Blender in debug mode, you will see one warning line of the console: "warning btCollisionDispatcher::needsCollision: static-static collision!" In release mode this message is not printed. - Collision margin has no effect on sphere, cone and cylinder shape. Other performance improvements: - Remove unnecessary interpolation for Near and Radar objects and by extension sensor objects. - Use direct matrix copy instead of quaternion to synchronize orientation. Other bug fix: - Fix Near/Radar position error on newly activated objects. This was causing several detection problems in YoFrankie - Fix margin not passed correctly to gImpact shape. - Disable force/velocity actions on static objects
2009-05-17 12:51:51 +00:00
return true;
Big patches: Erwin Coumans: Abstract the physics engine Charlie C: Joystick fixes Me: Moved the ray cast (shadows, mouse sensor & ray sensor)
2005-03-25 10:33:39 +00:00
}
BGE: new sensor object to generalize Near and Radar sensor, static-static collision capbility. A new type of "Sensor" physics object is available in the GE for advanced collision management. It's called Sensor for its similarities with the physics objects that underlie the Near and Radar sensors. Like the Near and Radar object it is: - static and ghost - invisible by default - always active to ensure correct collision detection - capable of detecting both static and dynamic objects - ignoring collision with their parent - capable of broadphase filtering based on: * Actor option: the collisioning object must have the Actor flag set to be detected * property/material: as specified in the collision sensors attached to it Broadphase filtering is important for performance reason: the collision points will be computed only for the objects that pass the broahphase filter. - automatically removed from the simulation when no collision sensor is active on it Unlike the Near and Radar object it can: - take any shape, including triangle mesh - be made visible for debugging (just use the Visible actuator) - have multiple collision sensors using it Other than that, the sensor objects are ordinary objects. You can move them freely or parent them. When parented to a dynamic object, they can provide advanced collision control to this object. The type of collision capability depends on the shape: - box, sphere, cylinder, cone, convex hull provide volume detection. - triangle mesh provides surface detection but you can give some volume to the suface by increasing the margin in the Advanced Settings panel. The margin applies on both sides of the surface. Performance tip: - Sensor objects perform better than Near and Radar: they do less synchronizations because of the Scenegraph optimizations and they can have multiple collision sensors on them (with different property filtering for example). - Always prefer simple shape (box, sphere) to complex shape whenever possible. - Always use broadphase filtering (avoid collision sensor with empty propery/material) - Use collision sensor only when you need them. When no collision sensor is active on the sensor object, it is removed from the simulation and consume no CPU. Known limitations: - When running Blender in debug mode, you will see one warning line of the console: "warning btCollisionDispatcher::needsCollision: static-static collision!" In release mode this message is not printed. - Collision margin has no effect on sphere, cone and cylinder shape. Other performance improvements: - Remove unnecessary interpolation for Near and Radar objects and by extension sensor objects. - Use direct matrix copy instead of quaternion to synchronize orientation. Other bug fix: - Fix Near/Radar position error on newly activated objects. This was causing several detection problems in YoFrankie - Fix margin not passed correctly to gImpact shape. - Disable force/velocity actions on static objects
2009-05-17 12:51:51 +00:00
return false;
Big patches: Erwin Coumans: Abstract the physics engine Charlie C: Joystick fixes Me: Moved the ray cast (shadows, mouse sensor & ray sensor)
2005-03-25 10:33:39 +00:00
}
BGE patch: logic optimization part 2: remove inactive sensors from logic manager. With this patch, only sensors that are connected to active states are actually registered in the logic manager. Inactive sensors won't take any CPU, especially the Radar and Near sensors that use a physical object for the detection: these objects are removed from the physics engine. To take advantage of this optimization patch, you need to define very light idle state when the objects are inactive: make them transparent, suspend the physics, keep few sensors active (e,g a message sensor to wake up), etc.
2008-07-30 17:41:47 +00:00
BGE: new sensor object to generalize Near and Radar sensor, static-static collision capbility. A new type of "Sensor" physics object is available in the GE for advanced collision management. It's called Sensor for its similarities with the physics objects that underlie the Near and Radar sensors. Like the Near and Radar object it is: - static and ghost - invisible by default - always active to ensure correct collision detection - capable of detecting both static and dynamic objects - ignoring collision with their parent - capable of broadphase filtering based on: * Actor option: the collisioning object must have the Actor flag set to be detected * property/material: as specified in the collision sensors attached to it Broadphase filtering is important for performance reason: the collision points will be computed only for the objects that pass the broahphase filter. - automatically removed from the simulation when no collision sensor is active on it Unlike the Near and Radar object it can: - take any shape, including triangle mesh - be made visible for debugging (just use the Visible actuator) - have multiple collision sensors using it Other than that, the sensor objects are ordinary objects. You can move them freely or parent them. When parented to a dynamic object, they can provide advanced collision control to this object. The type of collision capability depends on the shape: - box, sphere, cylinder, cone, convex hull provide volume detection. - triangle mesh provides surface detection but you can give some volume to the suface by increasing the margin in the Advanced Settings panel. The margin applies on both sides of the surface. Performance tip: - Sensor objects perform better than Near and Radar: they do less synchronizations because of the Scenegraph optimizations and they can have multiple collision sensors on them (with different property filtering for example). - Always prefer simple shape (box, sphere) to complex shape whenever possible. - Always use broadphase filtering (avoid collision sensor with empty propery/material) - Use collision sensor only when you need them. When no collision sensor is active on the sensor object, it is removed from the simulation and consume no CPU. Known limitations: - When running Blender in debug mode, you will see one warning line of the console: "warning btCollisionDispatcher::needsCollision: static-static collision!" In release mode this message is not printed. - Collision margin has no effect on sphere, cone and cylinder shape. Other performance improvements: - Remove unnecessary interpolation for Near and Radar objects and by extension sensor objects. - Use direct matrix copy instead of quaternion to synchronize orientation. Other bug fix: - Fix Near/Radar position error on newly activated objects. This was causing several detection problems in YoFrankie - Fix margin not passed correctly to gImpact shape. - Disable force/velocity actions on static objects
2009-05-17 12:51:51 +00:00
bool SumoPhysicsEnvironment::removeCollisionCallback(PHY_IPhysicsController* ctrl)
BGE patch: logic optimization part 2: remove inactive sensors from logic manager. With this patch, only sensors that are connected to active states are actually registered in the logic manager. Inactive sensors won't take any CPU, especially the Radar and Near sensors that use a physical object for the detection: these objects are removed from the physics engine. To take advantage of this optimization patch, you need to define very light idle state when the objects are inactive: make them transparent, suspend the physics, keep few sensors active (e,g a message sensor to wake up), etc.
2008-07-30 17:41:47 +00:00
{
// intentionally empty
BGE: new sensor object to generalize Near and Radar sensor, static-static collision capbility. A new type of "Sensor" physics object is available in the GE for advanced collision management. It's called Sensor for its similarities with the physics objects that underlie the Near and Radar sensors. Like the Near and Radar object it is: - static and ghost - invisible by default - always active to ensure correct collision detection - capable of detecting both static and dynamic objects - ignoring collision with their parent - capable of broadphase filtering based on: * Actor option: the collisioning object must have the Actor flag set to be detected * property/material: as specified in the collision sensors attached to it Broadphase filtering is important for performance reason: the collision points will be computed only for the objects that pass the broahphase filter. - automatically removed from the simulation when no collision sensor is active on it Unlike the Near and Radar object it can: - take any shape, including triangle mesh - be made visible for debugging (just use the Visible actuator) - have multiple collision sensors using it Other than that, the sensor objects are ordinary objects. You can move them freely or parent them. When parented to a dynamic object, they can provide advanced collision control to this object. The type of collision capability depends on the shape: - box, sphere, cylinder, cone, convex hull provide volume detection. - triangle mesh provides surface detection but you can give some volume to the suface by increasing the margin in the Advanced Settings panel. The margin applies on both sides of the surface. Performance tip: - Sensor objects perform better than Near and Radar: they do less synchronizations because of the Scenegraph optimizations and they can have multiple collision sensors on them (with different property filtering for example). - Always prefer simple shape (box, sphere) to complex shape whenever possible. - Always use broadphase filtering (avoid collision sensor with empty propery/material) - Use collision sensor only when you need them. When no collision sensor is active on the sensor object, it is removed from the simulation and consume no CPU. Known limitations: - When running Blender in debug mode, you will see one warning line of the console: "warning btCollisionDispatcher::needsCollision: static-static collision!" In release mode this message is not printed. - Collision margin has no effect on sphere, cone and cylinder shape. Other performance improvements: - Remove unnecessary interpolation for Near and Radar objects and by extension sensor objects. - Use direct matrix copy instead of quaternion to synchronize orientation. Other bug fix: - Fix Near/Radar position error on newly activated objects. This was causing several detection problems in YoFrankie - Fix margin not passed correctly to gImpact shape. - Disable force/velocity actions on static objects
2009-05-17 12:51:51 +00:00
return false;
BGE patch: logic optimization part 2: remove inactive sensors from logic manager. With this patch, only sensors that are connected to active states are actually registered in the logic manager. Inactive sensors won't take any CPU, especially the Radar and Near sensors that use a physical object for the detection: these objects are removed from the physics engine. To take advantage of this optimization patch, you need to define very light idle state when the objects are inactive: make them transparent, suspend the physics, keep few sensors active (e,g a message sensor to wake up), etc.
2008-07-30 17:41:47 +00:00
}
Big patches: Erwin Coumans: Abstract the physics engine Charlie C: Joystick fixes Me: Moved the ray cast (shadows, mouse sensor & ray sensor)
2005-03-25 10:33:39 +00:00
PHY_IPhysicsController* SumoPhysicsEnvironment::CreateSphereController(float radius,const PHY__Vector3& position)
{
DT_ShapeHandle shape = DT_NewSphere(0.0);
SM_Object* ob = new SM_Object(shape,0,0,0);
ob->setPosition(MT_Point3(position));
//testing
MT_Quaternion rotquatje(MT_Vector3(0,0,1),MT_radians(90));
ob->setOrientation(rotquatje);
PHY_IPhysicsController* ctrl = new SumoPhysicsController(m_sumoScene,ob,0,false);
ctrl->SetMargin(radius);
return ctrl;
}
PHY_IPhysicsController* SumoPhysicsEnvironment::CreateConeController(float coneradius,float coneheight)
{
DT_ShapeHandle shape = DT_NewCone(coneradius,coneheight);
SM_Object* ob = new SM_Object(shape,0,0,0);
ob->setPosition(MT_Point3(0.f,0.f,0.f));
MT_Quaternion rotquatje(MT_Vector3(0,0,1),MT_radians(90));
ob->setOrientation(rotquatje);
PHY_IPhysicsController* ctrl = new SumoPhysicsController(m_sumoScene,ob,0,false);
return ctrl;
}
Initial revision
2002-10-12 11:37:38 +00:00
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