Revision: 18492
http://projects.blender.org/plugins/scmsvn/viewcvs.php?view=rev&root=bf-blender&revision=18492
Author: ben2610
Date: 2009-01-13 23:59:18 +0100 (Tue, 13 Jan 2009)
Log Message:
-----------
BGE patch: dynamically update the coumpound parent shape when parenting to a
compound object.
This patch modifies the way the setParent actuator and
KX_GameObject::setParent() function
works when parenting to a compound object: the collision shape of the object
being parented
is dynamically added to the coumpound shape.
Similarly, unparenting an object from a compound object will cause the child
collision shape
to be dynamically removed from the parent shape provided that is was previously
added with
setParent.
Note: * This also works if the object is parented to a child of a compound
object: the
collision shape is added to the compound shape of the top parent.
* The collision shape is added with the transformation (position, scale
and orientation)
it had at the time of the parenting.
* The child shape is rigidly attached to the compound shape, the
transformation is not
affected by any further change in position/scale/orientation of the
child object.
* While the child shape is added to the compound shape, the child object
is removed from
the dynamic world to avoid superposition of shapes (one for the object
itself and
one for the compound child shape). This means that collision sensors on
the child
object are disabled while the child object is parent to a compound
object.
* There is no difference when setParent is used on a non-compound object:
the child
object is automatically changed to a static ghost object to avoid bad
interaction
with the parent shape; collision sensors on the child object continue
to be active
while the object is parented.
* The child shape dynamically added to a compound shape modifies the
inertia of the
compound object but not the mass. It participates to collision
detection as any other
"static" child shape.
Modified Paths:
--------------
trunk/blender/source/gameengine/Ketsji/KX_BulletPhysicsController.cpp
trunk/blender/source/gameengine/Ketsji/KX_BulletPhysicsController.h
trunk/blender/source/gameengine/Ketsji/KX_ConvertPhysicsObjects.cpp
trunk/blender/source/gameengine/Ketsji/KX_GameObject.cpp
trunk/blender/source/gameengine/Ketsji/KX_IPhysicsController.cpp
trunk/blender/source/gameengine/Ketsji/KX_IPhysicsController.h
trunk/blender/source/gameengine/Ketsji/KX_OdePhysicsController.cpp
trunk/blender/source/gameengine/Ketsji/KX_OdePhysicsController.h
trunk/blender/source/gameengine/Ketsji/KX_SumoPhysicsController.h
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
trunk/blender/source/gameengine/Physics/common/PHY_DynamicTypes.h
Modified: trunk/blender/source/gameengine/Ketsji/KX_BulletPhysicsController.cpp
===================================================================
--- trunk/blender/source/gameengine/Ketsji/KX_BulletPhysicsController.cpp
2009-01-13 22:21:04 UTC (rev 18491)
+++ trunk/blender/source/gameengine/Ketsji/KX_BulletPhysicsController.cpp
2009-01-13 22:59:18 UTC (rev 18492)
@@ -17,10 +17,11 @@
#include "BulletSoftBody/btSoftBody.h"
-KX_BulletPhysicsController::KX_BulletPhysicsController (const
CcdConstructionInfo& ci, bool dyna)
-: KX_IPhysicsController(dyna,(PHY_IPhysicsController*)this),
+KX_BulletPhysicsController::KX_BulletPhysicsController (const
CcdConstructionInfo& ci, bool dyna, bool compound)
+: KX_IPhysicsController(dyna,compound,(PHY_IPhysicsController*)this),
CcdPhysicsController(ci),
-m_savedCollisionFlags(0)
+m_savedCollisionFlags(0),
+m_bulletChildShape(NULL)
{
}
@@ -175,6 +176,133 @@
{
}
+/* This function dynamically adds the collision shape of another controller to
+ the current controller shape provided it is a compound shape.
+ The idea is that dynamic parenting on a compound object will dynamically
extend the shape
+*/
+void KX_BulletPhysicsController::AddCompoundChild(KX_IPhysicsController*
child)
+{
+ if (child == NULL || !IsCompound())
+ return;
+ // other controller must be a bullet controller too
+ // verify that body and shape exist and match
+ KX_BulletPhysicsController* childCtrl =
dynamic_cast<KX_BulletPhysicsController*>(child);
+ btRigidBody* rootBody = GetRigidBody();
+ btRigidBody* childBody = childCtrl->GetRigidBody();
+ if (!rootBody || !childBody)
+ return;
+ const btCollisionShape* rootShape = rootBody->getCollisionShape();
+ const btCollisionShape* childShape = childBody->getCollisionShape();
+ if (!rootShape ||
+ !childShape ||
+ rootShape->getShapeType() != COMPOUND_SHAPE_PROXYTYPE ||
+ childShape->getShapeType() == COMPOUND_SHAPE_PROXYTYPE)
+ return;
+ btCompoundShape* compoundShape = (btCompoundShape*)rootShape;
+ // compute relative transformation between parent and child
+ btTransform rootTrans;
+ btTransform childTrans;
+ rootBody->getMotionState()->getWorldTransform(rootTrans);
+ childBody->getMotionState()->getWorldTransform(childTrans);
+ btVector3 rootScale = rootShape->getLocalScaling();
+ rootScale[0] = 1.0/rootScale[0];
+ rootScale[1] = 1.0/rootScale[1];
+ rootScale[2] = 1.0/rootScale[2];
+ // relative scale = child_scale/parent_scale
+ btVector3 relativeScale = childShape->getLocalScaling()*rootScale;
+ btMatrix3x3 rootRotInverse = rootTrans.getBasis().transpose();
+ // relative pos = parent_rot^-1 * ((parent_pos-child_pos)/parent_scale)
+ btVector3 relativePos =
rootRotInverse*((childTrans.getOrigin()-rootTrans.getOrigin())*rootScale);
+ // relative rot = parent_rot^-1 * child_rot
+ btMatrix3x3 relativeRot = rootRotInverse*childTrans.getBasis();
+ // create a proxy shape info to store the transformation
+ CcdShapeConstructionInfo* proxyShapeInfo = new
CcdShapeConstructionInfo();
+ // store the transformation to this object shapeinfo
+ proxyShapeInfo->m_childTrans.setOrigin(relativePos);
+ proxyShapeInfo->m_childTrans.setBasis(relativeRot);
+ proxyShapeInfo->m_childScale.setValue(relativeScale[0],
relativeScale[1], relativeScale[2]);
+ // we will need this to make sure that we remove the right proxy later
when unparenting
+ proxyShapeInfo->m_userData = childCtrl;
+ proxyShapeInfo->SetProxy(childCtrl->GetShapeInfo()->AddRef());
+ // add to parent compound shapeinfo
+ GetShapeInfo()->AddShape(proxyShapeInfo);
+ // create new bullet collision shape from the object shapeinfo and set
scaling
+ btCollisionShape* newChildShape = proxyShapeInfo->CreateBulletShape();
+ newChildShape->setLocalScaling(relativeScale);
+ // add bullet collision shape to parent compound collision shape
+
compoundShape->addChildShape(proxyShapeInfo->m_childTrans,newChildShape);
+ // remember we created this shape
+ childCtrl->m_bulletChildShape = newChildShape;
+ // recompute inertia of parent
+ if (!rootBody->isStaticOrKinematicObject())
+ {
+ btVector3 localInertia;
+ float mass = 1.f/rootBody->getInvMass();
+ compoundShape->calculateLocalInertia(mass,localInertia);
+ rootBody->setMassProps(mass,localInertia);
+ }
+ // must update the broadphase cache,
+ GetPhysicsEnvironment()->refreshCcdPhysicsController(this);
+ // remove the children
+ GetPhysicsEnvironment()->disableCcdPhysicsController(childCtrl);
+}
+
+/* Reverse function of the above, it will remove a shape from a compound shape
+ provided that the former was added to the later using AddCompoundChild()
+*/
+void KX_BulletPhysicsController::RemoveCompoundChild(KX_IPhysicsController*
child)
+{
+ if (child == NULL || !IsCompound())
+ return;
+ // other controller must be a bullet controller too
+ // verify that body and shape exist and match
+ KX_BulletPhysicsController* childCtrl =
dynamic_cast<KX_BulletPhysicsController*>(child);
+ btRigidBody* rootBody = GetRigidBody();
+ btRigidBody* childBody = childCtrl->GetRigidBody();
+ if (!rootBody || !childBody)
+ return;
+ const btCollisionShape* rootShape = rootBody->getCollisionShape();
+ if (!rootShape ||
+ rootShape->getShapeType() != COMPOUND_SHAPE_PROXYTYPE)
+ return;
+ btCompoundShape* compoundShape = (btCompoundShape*)rootShape;
+ // retrieve the shapeInfo
+ CcdShapeConstructionInfo* childShapeInfo = childCtrl->GetShapeInfo();
+ CcdShapeConstructionInfo* rootShapeInfo = GetShapeInfo();
+ // and verify that the child is part of the parent
+ int i = rootShapeInfo->FindChildShape(childShapeInfo, childCtrl);
+ if (i < 0)
+ return;
+ rootShapeInfo->RemoveChildShape(i);
+ if (childCtrl->m_bulletChildShape)
+ {
+ int numChildren = compoundShape->getNumChildShapes();
+ for (i=0; i<numChildren; i++)
+ {
+ if (compoundShape->getChildShape(i) ==
childCtrl->m_bulletChildShape)
+ {
+ compoundShape->removeChildShapeByIndex(i);
+ compoundShape->recalculateLocalAabb();
+ break;
+ }
+ }
+ delete childCtrl->m_bulletChildShape;
+ childCtrl->m_bulletChildShape = NULL;
+ }
+ // recompute inertia of parent
+ if (!rootBody->isStaticOrKinematicObject())
+ {
+ btVector3 localInertia;
+ float mass = 1.f/rootBody->getInvMass();
+ compoundShape->calculateLocalInertia(mass,localInertia);
+ rootBody->setMassProps(mass,localInertia);
+ }
+ // must update the broadphase cache,
+ GetPhysicsEnvironment()->refreshCcdPhysicsController(this);
+ // reactivate the children
+ GetPhysicsEnvironment()->enableCcdPhysicsController(childCtrl);
+}
+
void KX_BulletPhysicsController::SuspendDynamics(bool ghost)
{
btRigidBody *body = GetRigidBody();
@@ -251,6 +379,7 @@
physicsreplica->setParentCtrl(ccdParent);
physicsreplica->PostProcessReplica(motionstate,parentctrl);
physicsreplica->m_userdata = (PHY_IPhysicsController*)physicsreplica;
+ physicsreplica->m_bulletChildShape = NULL;
return physicsreplica;
}
Modified: trunk/blender/source/gameengine/Ketsji/KX_BulletPhysicsController.h
===================================================================
--- trunk/blender/source/gameengine/Ketsji/KX_BulletPhysicsController.h
2009-01-13 22:21:04 UTC (rev 18491)
+++ trunk/blender/source/gameengine/Ketsji/KX_BulletPhysicsController.h
2009-01-13 22:59:18 UTC (rev 18492)
@@ -13,10 +13,11 @@
short int m_savedCollisionFilterGroup;
short int m_savedCollisionFilterMask;
MT_Scalar m_savedMass;
+ btCollisionShape* m_bulletChildShape;
public:
- KX_BulletPhysicsController (const CcdConstructionInfo& ci, bool dyna);
+ KX_BulletPhysicsController (const CcdConstructionInfo& ci, bool dyna,
bool compound);
virtual ~KX_BulletPhysicsController ();
///////////////////////////////////
@@ -42,6 +43,8 @@
virtual MT_Scalar GetMass();
virtual MT_Vector3 getReactionForce();
virtual void setRigidBody(bool rigid);
+ virtual void AddCompoundChild(KX_IPhysicsController* child);
+ virtual void RemoveCompoundChild(KX_IPhysicsController* child);
virtual void resolveCombinedVelocities(float linvelX,float
linvelY,float linvelZ,float angVelX,float angVelY,float angVelZ);
Modified: trunk/blender/source/gameengine/Ketsji/KX_ConvertPhysicsObjects.cpp
===================================================================
--- trunk/blender/source/gameengine/Ketsji/KX_ConvertPhysicsObjects.cpp
2009-01-13 22:21:04 UTC (rev 18491)
+++ trunk/blender/source/gameengine/Ketsji/KX_ConvertPhysicsObjects.cpp
2009-01-13 22:59:18 UTC (rev 18492)
@@ -1084,7 +1084,7 @@
ci.m_bSoft = objprop->m_softbody;
MT_Vector3 scaling = gameobj->NodeGetWorldScaling();
ci.m_scaling.setValue(scaling[0], scaling[1], scaling[2]);
- KX_BulletPhysicsController* physicscontroller = new
KX_BulletPhysicsController(ci,isbulletdyna);
+ KX_BulletPhysicsController* physicscontroller = new
KX_BulletPhysicsController(ci,isbulletdyna,objprop->m_hasCompoundChildren);
// shapeInfo is reference counted, decrement now as we don't use it
anymore
if (shapeInfo)
shapeInfo->Release();
Modified: trunk/blender/source/gameengine/Ketsji/KX_GameObject.cpp
===================================================================
--- trunk/blender/source/gameengine/Ketsji/KX_GameObject.cpp 2009-01-13
22:21:04 UTC (rev 18491)
+++ trunk/blender/source/gameengine/Ketsji/KX_GameObject.cpp 2009-01-13
22:59:18 UTC (rev 18492)
@@ -252,6 +252,20 @@
if (rootlist->RemoveValue(this))
// the object was in parent list, decrement ref count
as it's now removed
Release();
+ // if the new parent is a compound object, add this object
shape to the compound shape.
+ // step 0: verify this object has physical controller
+ if (m_pPhysicsController1)
+ {
+ // step 1: find the top parent (not necessarily obj)
+ KX_GameObject* rootobj =
(KX_GameObject*)obj->GetSGNode()->GetRootSGParent()->GetSGClientObject();
+ // step 2: verify it has a physical controller and
compound shape
+ if (rootobj != NULL &&
+ rootobj->m_pPhysicsController1 != NULL &&
+ rootobj->m_pPhysicsController1->IsCompound())
+ {
+
rootobj->m_pPhysicsController1->AddCompoundChild(m_pPhysicsController1);
+ }
+ }
}
}
@@ -260,6 +274,8 @@
// check on valid node in case a python controller holds a reference to
a deleted object
if (GetSGNode() && GetSGNode()->GetSGParent())
{
+ // get the root object to remove us from compound object if
needed
+ KX_GameObject* rootobj =
(KX_GameObject*)GetSGNode()->GetRootSGParent()->GetSGClientObject();
// Set us to the right spot
@@ Diff output truncated at 10240 characters. @@
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