Revision: 16812
http://projects.blender.org/plugins/scmsvn/viewcvs.php?view=rev&root=bf-blender&revision=16812
Author: erwin
Date: 2008-09-29 08:58:49 +0200 (Mon, 29 Sep 2008)
Log Message:
-----------
Add Fh/Rot Fh to Bullet.
Modified Paths:
--------------
trunk/blender/source/gameengine/Ketsji/KX_BulletPhysicsController.cpp
trunk/blender/source/gameengine/Ketsji/KX_ConvertPhysicsObjects.cpp
trunk/blender/source/gameengine/Physics/Bullet/CcdPhysicsController.cpp
trunk/blender/source/gameengine/Physics/Bullet/CcdPhysicsController.h
trunk/blender/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.cpp
trunk/blender/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.h
Modified: trunk/blender/source/gameengine/Ketsji/KX_BulletPhysicsController.cpp
===================================================================
--- trunk/blender/source/gameengine/Ketsji/KX_BulletPhysicsController.cpp
2008-09-29 04:43:51 UTC (rev 16811)
+++ trunk/blender/source/gameengine/Ketsji/KX_BulletPhysicsController.cpp
2008-09-29 06:58:49 UTC (rev 16812)
@@ -211,6 +211,9 @@
//parentcontroller is here be able to avoid collisions between
parent/child
PHY_IPhysicsController* parentctrl = NULL;
+ KX_BulletPhysicsController* parentKxCtrl = NULL;
+ CcdPhysicsController* ccdParent = NULL;
+
if (destnode != destnode->GetRootSGParent())
{
@@ -230,12 +233,15 @@
KX_GameObject *clientgameobj =
static_cast<KX_GameObject*>( (*childit)->GetSGClientObject());
if (clientgameobj)
{
- parentctrl =
(KX_BulletPhysicsController*)clientgameobj->GetPhysicsController();
+ parentKxCtrl =
(KX_BulletPhysicsController*)clientgameobj->GetPhysicsController();
+ parentctrl = parentKxCtrl;
+ ccdParent = parentKxCtrl;
}
}
}
}
+ physicsreplica->setParentCtrl(ccdParent);
physicsreplica->PostProcessReplica(motionstate,parentctrl);
physicsreplica->m_userdata = (PHY_IPhysicsController*)physicsreplica;
return physicsreplica;
Modified: trunk/blender/source/gameengine/Ketsji/KX_ConvertPhysicsObjects.cpp
===================================================================
--- trunk/blender/source/gameengine/Ketsji/KX_ConvertPhysicsObjects.cpp
2008-09-29 04:43:51 UTC (rev 16811)
+++ trunk/blender/source/gameengine/Ketsji/KX_ConvertPhysicsObjects.cpp
2008-09-29 06:58:49 UTC (rev 16812)
@@ -1028,12 +1028,18 @@
ci.m_do_anisotropic = shapeprops->m_do_anisotropic;
ci.m_anisotropicFriction.setValue(shapeprops->m_friction_scaling[0],shapeprops->m_friction_scaling[1],shapeprops->m_friction_scaling[2]);
- //smprop->m_do_fh = kxshapeprops->m_do_fh;
- //smprop->m_do_rot_fh = kxshapeprops->m_do_rot_fh ;
+//////////
+ //do Fh, do Rot Fh
+ ci.m_do_fh = shapeprops->m_do_fh;
+ ci.m_do_rot_fh = shapeprops->m_do_rot_fh ;
+ ci.m_fh_damping = smmaterial->m_fh_damping;
+ ci.m_fh_distance = smmaterial->m_fh_distance;
+ ci.m_fh_normal = smmaterial->m_fh_normal;
+ ci.m_fh_spring = smmaterial->m_fh_spring;
+ ci.m_radius = objprop->m_radius;
-
///////////////////
ci.m_gamesoftFlag = objprop->m_gamesoftFlag;
ci.m_soft_linStiff = objprop->m_soft_linStiff;
@@ -1098,6 +1104,10 @@
if (rbody && objprop->m_disableSleeping)
rbody->setActivationState(DISABLE_DEACTIVATION);
}
+
+ CcdPhysicsController* parentCtrl = objprop->m_dynamic_parent ?
(KX_BulletPhysicsController*)objprop->m_dynamic_parent->GetPhysicsController()
: 0;
+ physicscontroller->setParentCtrl(parentCtrl);
+
//Now done directly in ci.m_collisionFlags so that it propagates to
replica
//if (objprop->m_ghost)
Modified:
trunk/blender/source/gameengine/Physics/Bullet/CcdPhysicsController.cpp
===================================================================
--- trunk/blender/source/gameengine/Physics/Bullet/CcdPhysicsController.cpp
2008-09-29 04:43:51 UTC (rev 16811)
+++ trunk/blender/source/gameengine/Physics/Bullet/CcdPhysicsController.cpp
2008-09-29 06:58:49 UTC (rev 16812)
@@ -54,7 +54,7 @@
m_newClientInfo = 0;
m_registerCount = 0;
m_softBodyTransformInitialized = false;
-
+ m_parentCtrl = 0;
// copy pointers locally to allow smart release
m_MotionState = ci.m_MotionState;
m_collisionShape = ci.m_collisionShape;
@@ -628,6 +628,7 @@
// controller replication
void CcdPhysicsController::PostProcessReplica(class
PHY_IMotionState* motionstate,class PHY_IPhysicsController* parentctrl)
{
+
m_softBodyTransformInitialized=false;
m_MotionState = motionstate;
m_registerCount = 0;
Modified: trunk/blender/source/gameengine/Physics/Bullet/CcdPhysicsController.h
===================================================================
--- trunk/blender/source/gameengine/Physics/Bullet/CcdPhysicsController.h
2008-09-29 04:43:51 UTC (rev 16811)
+++ trunk/blender/source/gameengine/Physics/Bullet/CcdPhysicsController.h
2008-09-29 06:58:49 UTC (rev 16812)
@@ -264,6 +264,14 @@
bool m_do_anisotropic;
btVector3 m_anisotropicFriction;
+ bool m_do_fh; ///< Should the object have a
linear Fh spring?
+ bool m_do_rot_fh; ///< Should the object have an
angular Fh spring?
+ btScalar m_fh_spring; ///< Spring constant (both
linear and angular)
+ btScalar m_fh_damping; ///< Damping factor (linear
and angular) in range [0, 1]
+ btScalar m_fh_distance; ///< The range above the
surface where Fh is active.
+ bool m_fh_normal; ///< Should the object slide
off slopes?
+ float m_radius;//for fh backwards compatibility
+
};
@@ -295,6 +303,9 @@
void* m_newClientInfo;
int m_registerCount; // needed when multiple
sensors use the same controller
CcdConstructionInfo m_cci;//needed for replication
+
+ CcdPhysicsController* m_parentCtrl;
+
void GetWorldOrientation(btMatrix3x3& mat);
void CreateRigidbody();
@@ -318,7 +329,16 @@
virtual ~CcdPhysicsController();
+ CcdConstructionInfo& getConstructionInfo()
+ {
+ return m_cci;
+ }
+ const CcdConstructionInfo& getConstructionInfo() const
+ {
+ return m_cci;
+ }
+
btRigidBody* GetRigidBody();
btCollisionObject* GetCollisionObject();
btSoftBody* GetSoftBody();
@@ -422,6 +442,23 @@
{
return m_cci.m_physicsEnv;
}
+
+ void setParentCtrl(CcdPhysicsController* parentCtrl)
+ {
+ m_parentCtrl = parentCtrl;
+ }
+
+ CcdPhysicsController* getParentCtrl()
+ {
+ return m_parentCtrl;
+ }
+
+ const CcdPhysicsController* getParentCtrl() const
+ {
+ return m_parentCtrl;
+ }
+
+
};
Modified:
trunk/blender/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.cpp
===================================================================
--- trunk/blender/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.cpp
2008-09-29 04:43:51 UTC (rev 16811)
+++ trunk/blender/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.cpp
2008-09-29 06:58:49 UTC (rev 16812)
@@ -558,6 +558,8 @@
(*it)->SynchronizeMotionStates(timeStep);
}
+ processFhSprings(curTime,timeStep);
+
float subStep = timeStep / float(m_numTimeSubSteps);
for (i=0;i<m_numTimeSubSteps;i++)
{
@@ -570,6 +572,11 @@
(*it)->SynchronizeMotionStates(timeStep);
}
+ for (it=m_controllers.begin(); it!=m_controllers.end(); it++)
+ {
+ (*it)->SynchronizeMotionStates(timeStep);
+ }
+
for (i=0;i<m_wrapperVehicles.size();i++)
{
WrapperVehicle* veh = m_wrapperVehicles[i];
@@ -585,7 +592,171 @@
return true;
}
+class ClosestRayResultCallbackNotMe : public
btCollisionWorld::ClosestRayResultCallback
+{
+ btCollisionObject* m_owner;
+ btCollisionObject* m_parent;
+public:
+ ClosestRayResultCallbackNotMe(const btVector3& rayFromWorld,const
btVector3& rayToWorld,btCollisionObject* owner,btCollisionObject* parent)
+
:btCollisionWorld::ClosestRayResultCallback(rayFromWorld,rayToWorld),
+ m_owner(owner)
+ {
+
+ }
+
+ virtual bool needsCollision(btBroadphaseProxy* proxy0) const
+ {
+ //don't collide with self
+ if (proxy0->m_clientObject == m_owner)
+ return false;
+
+ if (proxy0->m_clientObject == m_parent)
+ return false;
+
+ return
btCollisionWorld::ClosestRayResultCallback::needsCollision(proxy0);
+ }
+
+};
+
+void CcdPhysicsEnvironment::processFhSprings(double curTime,float timeStep)
+{
+ std::set<CcdPhysicsController*>::iterator it;
+
+ for (it=m_controllers.begin(); it!=m_controllers.end(); it++)
+ {
+ CcdPhysicsController* ctrl = (*it);
+ if (ctrl->GetRigidBody() && ctrl->getConstructionInfo().m_do_fh
|| ctrl->getConstructionInfo().m_do_rot_fh)
+ {
+ //printf("has Fh or RotFh\n");
+ //re-implement SM_FhObject.cpp using
btCollisionWorld::rayTest and info from ctrl->getConstructionInfo()
+ //send a ray from {0.0, 0.0, 0.0} towards {0.0, 0.0,
-10.0}, in local coordinates
+
+ btRigidBody* body = ctrl->GetRigidBody();
+ CcdPhysicsController* parentCtrl =
ctrl->getParentCtrl();
+ btRigidBody* parentBody =
parentCtrl?parentCtrl->GetRigidBody() : 0;
+ btRigidBody* cl_object = parentBody ? parentBody : body;
+
+ if (body->isStaticOrKinematicObject())
+ continue;
+
+ btVector3 rayDirLocal(0,0,-10);
+
+ //m_dynamicsWorld
+ //ctrl->GetRigidBody();
+ btVector3 rayFromWorld =
body->getCenterOfMassPosition();
+ //btVector3 rayToWorld = rayFromWorld +
body->getCenterOfMassTransform().getBasis() * rayDirLocal;
+ //ray always points down the z axis in world space...
+ btVector3 rayToWorld = rayFromWorld + rayDirLocal;
+
+ ClosestRayResultCallbackNotMe
resultCallback(rayFromWorld,rayToWorld,body,parentBody);
+
+
m_dynamicsWorld->rayTest(rayFromWorld,rayToWorld,resultCallback);
+ if (resultCallback.hasHit())
+ {
+ //we hit this one:
resultCallback.m_collisionObject;
+ CcdPhysicsController* controller =
static_cast<CcdPhysicsController*>(resultCallback.m_collisionObject->getUserPointer());
+
+ if (controller)
+ {
+ if
(controller->getConstructionInfo().m_fh_distance < SIMD_EPSILON)
+ continue;
+
+ btRigidBody* hit_object =
controller->GetRigidBody();
+ if (!hit_object)
+ continue;
+
+ CcdConstructionInfo& hitObjShapeProps =
controller->getConstructionInfo();
+
+ float distance =
resultCallback.m_closestHitFraction*rayDirLocal.length()-ctrl->getConstructionInfo().m_radius;
+ if (distance >=
hitObjShapeProps.m_fh_distance)
+ continue;
+
+
+
+ //btVector3 ray_dir =
cl_object->getCenterOfMassTransform().getBasis()* rayDirLocal.normalized();
+ btVector3 ray_dir =
rayDirLocal.normalized();
+ btVector3 normal =
resultCallback.m_hitNormalWorld;
+ normal.normalize();
+
+
+ if
(ctrl->getConstructionInfo().m_do_fh)
+ {
+ btVector3 lspot =
cl_object->getCenterOfMassPosition()
+ + rayDirLocal *
resultCallback.m_closestHitFraction;
+
+
+
+
+ lspot -=
hit_object->getCenterOfMassPosition();
+ btVector3 rel_vel =
cl_object->getLinearVelocity() - hit_object->getVelocityInLocalPoint(lspot);
+ btScalar rel_vel_ray =
ray_dir.dot(rel_vel);
+ btScalar spring_extent = 1.0 -
distance / hitObjShapeProps.m_fh_distance;
+
+ btScalar i_spring =
spring_extent * hitObjShapeProps.m_fh_spring;
+ btScalar i_damp = rel_vel_ray
* hitObjShapeProps.m_fh_damping;
+
@@ Diff output truncated at 10240 characters. @@
_______________________________________________
Bf-blender-cvs mailing list
[email protected]
http://lists.blender.org/mailman/listinfo/bf-blender-cvs
