KX_ConvertPhysicsObjects.cpp

Go to the documentation of this file.

/*
 * ***** BEGIN GPL LICENSE BLOCK *****
 *
 * 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
 * of the License, or (at your option) any later version.
 *
 * 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., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, 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.
 *
 * ***** END GPL LICENSE BLOCK *****
 */

#if defined(WIN32) && !defined(FREE_WINDOWS)
#pragma warning (disable : 4786)
#endif

#include "MT_assert.h"

#include "KX_SoftBodyDeformer.h"
#include "KX_ConvertPhysicsObject.h"
#include "BL_DeformableGameObject.h"
#include "RAS_MeshObject.h"
#include "KX_Scene.h"
#include "BL_System.h"

#include "PHY_Pro.h" //todo cleanup
#include "KX_ClientObjectInfo.h"

#include "CTR_Map.h"
#include "CTR_HashedPtr.h"

#include "KX_PhysicsEngineEnums.h"
#include "PHY_Pro.h"

#include "KX_MotionState.h" // bridge between motionstate and scenegraph node

extern "C"{
    #include "BKE_DerivedMesh.h"
}

#ifdef USE_BULLET
#include "BulletSoftBody/btSoftBody.h"

#include "CcdPhysicsEnvironment.h"
#include "CcdPhysicsController.h"
#include "BulletCollision/BroadphaseCollision/btBroadphaseInterface.h"

#include "KX_BulletPhysicsController.h"
#include "btBulletDynamicsCommon.h"

                            #ifdef WIN32
#if _MSC_VER >= 1310
//only use SIMD Hull code under Win32
//#define TEST_HULL 1
#ifdef TEST_HULL
#define USE_HULL 1
//#define TEST_SIMD_HULL 1

#include "NarrowPhaseCollision/Hull.h"
#endif //#ifdef TEST_HULL

#endif //_MSC_VER 
#endif //WIN32



// forward declarations

void    KX_ConvertBulletObject( class   KX_GameObject* gameobj,
    class   RAS_MeshObject* meshobj,
    struct  DerivedMesh* dm,
    class   KX_Scene* kxscene,
    struct  PHY_ShapeProps* shapeprops,
    struct  PHY_MaterialProps*  smmaterial,
    struct  KX_ObjectProperties*    objprop)
{

    CcdPhysicsEnvironment* env = (CcdPhysicsEnvironment*)kxscene->GetPhysicsEnvironment();
    assert(env);
    

    bool isbulletdyna = false;
    bool isbulletsensor = false;
    bool useGimpact = false;
    CcdConstructionInfo ci;
    class PHY_IMotionState* motionstate = new KX_MotionState(gameobj->GetSGNode());
    class CcdShapeConstructionInfo *shapeInfo = new CcdShapeConstructionInfo();

    
    if (!objprop->m_dyna)
    {
        ci.m_collisionFlags |= btCollisionObject::CF_STATIC_OBJECT;
    }
    if (objprop->m_ghost)
    {
        ci.m_collisionFlags |= btCollisionObject::CF_NO_CONTACT_RESPONSE;
    }

    ci.m_MotionState = motionstate;
    ci.m_gravity = btVector3(0,0,0);
    ci.m_localInertiaTensor =btVector3(0,0,0);
    ci.m_mass = objprop->m_dyna ? shapeprops->m_mass : 0.f;
    ci.m_clamp_vel_min = shapeprops->m_clamp_vel_min;
    ci.m_clamp_vel_max = shapeprops->m_clamp_vel_max;
    ci.m_margin = objprop->m_margin;
    shapeInfo->m_radius = objprop->m_radius;
    isbulletdyna = objprop->m_dyna;
    isbulletsensor = objprop->m_sensor;
    useGimpact = ((isbulletdyna || isbulletsensor) && !objprop->m_softbody);

    ci.m_localInertiaTensor = btVector3(ci.m_mass/3.f,ci.m_mass/3.f,ci.m_mass/3.f);
    
    btCollisionShape* bm = 0;

    switch (objprop->m_boundclass)
    {
    case KX_BOUNDSPHERE:
        {
            //float radius = objprop->m_radius;
            //btVector3 inertiaHalfExtents (
            //  radius,
            //  radius,
            //  radius);
            
            //blender doesn't support multisphere, but for testing:

            //bm = new MultiSphereShape(inertiaHalfExtents,,&trans.getOrigin(),&radius,1);
            shapeInfo->m_shapeType = PHY_SHAPE_SPHERE;
            bm = shapeInfo->CreateBulletShape(ci.m_margin);
            break;
        };
    case KX_BOUNDBOX:
        {
            shapeInfo->m_halfExtend.setValue(
                objprop->m_boundobject.box.m_extends[0],
                objprop->m_boundobject.box.m_extends[1],
                objprop->m_boundobject.box.m_extends[2]);

            shapeInfo->m_halfExtend /= 2.0;
            shapeInfo->m_halfExtend = shapeInfo->m_halfExtend.absolute();
            shapeInfo->m_shapeType = PHY_SHAPE_BOX;
            bm = shapeInfo->CreateBulletShape(ci.m_margin);
            break;
        };
    case KX_BOUNDCYLINDER:
        {
            shapeInfo->m_halfExtend.setValue(
                objprop->m_boundobject.c.m_radius,
                objprop->m_boundobject.c.m_radius,
                objprop->m_boundobject.c.m_height * 0.5f
            );
            shapeInfo->m_shapeType = PHY_SHAPE_CYLINDER;
            bm = shapeInfo->CreateBulletShape(ci.m_margin);
            break;
        }

    case KX_BOUNDCONE:
        {
            shapeInfo->m_radius = objprop->m_boundobject.c.m_radius;
            shapeInfo->m_height = objprop->m_boundobject.c.m_height;
            shapeInfo->m_shapeType = PHY_SHAPE_CONE;
            bm = shapeInfo->CreateBulletShape(ci.m_margin);
            break;
        }
    case KX_BOUNDPOLYTOPE:
        {
            shapeInfo->SetMesh(meshobj, dm,true);
            bm = shapeInfo->CreateBulletShape(ci.m_margin);
            break;
        }
    case KX_BOUNDCAPSULE:
        {
            shapeInfo->m_radius = objprop->m_boundobject.c.m_radius;
            shapeInfo->m_height = objprop->m_boundobject.c.m_height;
            shapeInfo->m_shapeType = PHY_SHAPE_CAPSULE;
            bm = shapeInfo->CreateBulletShape(ci.m_margin);
            break;
        }
    case KX_BOUNDMESH:
        {
            // mesh shapes can be shared, check first if we already have a shape on that mesh
            class CcdShapeConstructionInfo *sharedShapeInfo = CcdShapeConstructionInfo::FindMesh(meshobj, dm, false);
            if (sharedShapeInfo != NULL) 
            {
                shapeInfo->Release();
                shapeInfo = sharedShapeInfo;
                shapeInfo->AddRef();
            } else
            {
                shapeInfo->SetMesh(meshobj, dm, false);
            }

            // Soft bodies require welding. Only avoid remove doubles for non-soft bodies!
            if (objprop->m_softbody)
            {
                shapeInfo->setVertexWeldingThreshold1(objprop->m_soft_welding); //todo: expose this to the UI
            }

            bm = shapeInfo->CreateBulletShape(ci.m_margin, useGimpact, !objprop->m_softbody);
            //should we compute inertia for dynamic shape?
            //bm->calculateLocalInertia(ci.m_mass,ci.m_localInertiaTensor);

            break;
        }
    case KX_BOUND_DYN_MESH:
        /* do nothing */
        break;
    }


//  ci.m_localInertiaTensor.setValue(0.1f,0.1f,0.1f);

    if (!bm)
    {
        delete motionstate;
        shapeInfo->Release();
        return;
    }

    //bm->setMargin(ci.m_margin);


        if (objprop->m_isCompoundChild)
        {
            //find parent, compound shape and add to it
            //take relative transform into account!
            KX_BulletPhysicsController* parentCtrl = (KX_BulletPhysicsController*)objprop->m_dynamic_parent->GetPhysicsController();
            assert(parentCtrl);
            CcdShapeConstructionInfo* parentShapeInfo = parentCtrl->GetShapeInfo();
            btRigidBody* rigidbody = parentCtrl->GetRigidBody();
            btCollisionShape* colShape = rigidbody->getCollisionShape();
            assert(colShape->isCompound());
            btCompoundShape* compoundShape = (btCompoundShape*)colShape;

            // compute the local transform from parent, this may include several node in the chain
            SG_Node* gameNode = gameobj->GetSGNode();
            SG_Node* parentNode = objprop->m_dynamic_parent->GetSGNode();
            // relative transform
            MT_Vector3 parentScale = parentNode->GetWorldScaling();
            parentScale[0] = MT_Scalar(1.0)/parentScale[0];
            parentScale[1] = MT_Scalar(1.0)/parentScale[1];
            parentScale[2] = MT_Scalar(1.0)/parentScale[2];
            MT_Vector3 relativeScale = gameNode->GetWorldScaling() * parentScale;
            MT_Matrix3x3 parentInvRot = parentNode->GetWorldOrientation().transposed();
            MT_Vector3 relativePos = parentInvRot*((gameNode->GetWorldPosition()-parentNode->GetWorldPosition())*parentScale);
            MT_Matrix3x3 relativeRot = parentInvRot*gameNode->GetWorldOrientation();

            shapeInfo->m_childScale.setValue(relativeScale[0],relativeScale[1],relativeScale[2]);
            bm->setLocalScaling(shapeInfo->m_childScale);
            shapeInfo->m_childTrans.getOrigin().setValue(relativePos[0],relativePos[1],relativePos[2]);
            float rot[12];
            relativeRot.getValue(rot);
            shapeInfo->m_childTrans.getBasis().setFromOpenGLSubMatrix(rot);

            parentShapeInfo->AddShape(shapeInfo);   
            compoundShape->addChildShape(shapeInfo->m_childTrans,bm);
            //do some recalc?
            //recalc inertia for rigidbody
            if (!rigidbody->isStaticOrKinematicObject())
            {
                btVector3 localInertia;
                float mass = 1.f/rigidbody->getInvMass();
                compoundShape->calculateLocalInertia(mass,localInertia);
                rigidbody->setMassProps(mass,localInertia);
            }
            shapeInfo->Release();
            // delete motionstate as it's not used
            delete motionstate;
            return;
        }

        if (objprop->m_hasCompoundChildren)
        {
            // create a compound shape info
            CcdShapeConstructionInfo *compoundShapeInfo = new CcdShapeConstructionInfo();
            compoundShapeInfo->m_shapeType = PHY_SHAPE_COMPOUND;
            compoundShapeInfo->AddShape(shapeInfo);
            // create the compound shape manually as we already have the child shape
            btCompoundShape* compoundShape = new btCompoundShape();
            compoundShape->addChildShape(shapeInfo->m_childTrans,bm);
            // now replace the shape
            bm = compoundShape;
            shapeInfo->Release();
            shapeInfo = compoundShapeInfo;
        }






#ifdef TEST_SIMD_HULL
    if (bm->IsPolyhedral())
    {
        PolyhedralConvexShape* polyhedron = static_cast<PolyhedralConvexShape*>(bm);
        if (!polyhedron->m_optionalHull)
        {
            //first convert vertices in 'Point3' format
            int numPoints = polyhedron->GetNumVertices();
            Point3* points = new Point3[numPoints+1];
            //first 4 points should not be co-planar, so add central point to satisfy MakeHull
            points[0] = Point3(0.f,0.f,0.f);
            
            btVector3 vertex;
            for (int p=0;p<numPoints;p++)
            {
                polyhedron->GetVertex(p,vertex);
                points[p+1] = Point3(vertex.getX(),vertex.getY(),vertex.getZ());
            }

            Hull* hull = Hull::MakeHull(numPoints+1,points);
            polyhedron->m_optionalHull = hull;
        }

    }
#endif //TEST_SIMD_HULL


    ci.m_collisionShape = bm;
    ci.m_shapeInfo = shapeInfo;
    ci.m_friction = smmaterial->m_friction;//tweak the friction a bit, so the default 0.5 works nice
    ci.m_restitution = smmaterial->m_restitution;
    ci.m_physicsEnv = env;
    // drag / damping is inverted
    ci.m_linearDamping = 1.f - shapeprops->m_lin_drag;
    ci.m_angularDamping = 1.f - shapeprops->m_ang_drag;
    //need a bit of damping, else system doesn't behave well
    ci.m_inertiaFactor = shapeprops->m_inertia/0.4f;//defaults to 0.4, don't want to change behaviour
    
    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]);


    //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;
    ci.m_soft_angStiff = objprop->m_soft_angStiff;      /* angular stiffness 0..1 */
    ci.m_soft_volume= objprop->m_soft_volume;           /* volume preservation 0..1 */

    ci.m_soft_viterations= objprop->m_soft_viterations;     /* Velocities solver iterations */
    ci.m_soft_piterations= objprop->m_soft_piterations;     /* Positions solver iterations */
    ci.m_soft_diterations= objprop->m_soft_diterations;     /* Drift solver iterations */
    ci.m_soft_citerations= objprop->m_soft_citerations;     /* Cluster solver iterations */

    ci.m_soft_kSRHR_CL= objprop->m_soft_kSRHR_CL;       /* Soft vs rigid hardness [0,1] (cluster only) */
    ci.m_soft_kSKHR_CL= objprop->m_soft_kSKHR_CL;       /* Soft vs kinetic hardness [0,1] (cluster only) */
    ci.m_soft_kSSHR_CL= objprop->m_soft_kSSHR_CL;       /* Soft vs soft hardness [0,1] (cluster only) */
    ci.m_soft_kSR_SPLT_CL= objprop->m_soft_kSR_SPLT_CL; /* Soft vs rigid impulse split [0,1] (cluster only) */

    ci.m_soft_kSK_SPLT_CL= objprop->m_soft_kSK_SPLT_CL; /* Soft vs rigid impulse split [0,1] (cluster only) */
    ci.m_soft_kSS_SPLT_CL= objprop->m_soft_kSS_SPLT_CL; /* Soft vs rigid impulse split [0,1] (cluster only) */
    ci.m_soft_kVCF= objprop->m_soft_kVCF;           /* Velocities correction factor (Baumgarte) */
    ci.m_soft_kDP= objprop->m_soft_kDP;         /* Damping coefficient [0,1] */

    ci.m_soft_kDG= objprop->m_soft_kDG;         /* Drag coefficient [0,+inf] */
    ci.m_soft_kLF= objprop->m_soft_kLF;         /* Lift coefficient [0,+inf] */
    ci.m_soft_kPR= objprop->m_soft_kPR;         /* Pressure coefficient [-inf,+inf] */
    ci.m_soft_kVC= objprop->m_soft_kVC;         /* Volume conversation coefficient [0,+inf] */

    ci.m_soft_kDF= objprop->m_soft_kDF;         /* Dynamic friction coefficient [0,1] */
    ci.m_soft_kMT= objprop->m_soft_kMT;         /* Pose matching coefficient [0,1] */
    ci.m_soft_kCHR= objprop->m_soft_kCHR;           /* Rigid contacts hardness [0,1] */
    ci.m_soft_kKHR= objprop->m_soft_kKHR;           /* Kinetic contacts hardness [0,1] */

    ci.m_soft_kSHR= objprop->m_soft_kSHR;           /* Soft contacts hardness [0,1] */
    ci.m_soft_kAHR= objprop->m_soft_kAHR;           /* Anchors hardness [0,1] */
    ci.m_soft_collisionflags= objprop->m_soft_collisionflags;   /* Vertex/Face or Signed Distance Field(SDF) or Clusters, Soft versus Soft or Rigid */
    ci.m_soft_numclusteriterations= objprop->m_soft_numclusteriterations;   /* number of iterations to refine collision clusters*/

    ci.m_collisionFilterGroup = 
        (isbulletsensor) ? short(CcdConstructionInfo::SensorFilter) :
        (isbulletdyna) ? short(CcdConstructionInfo::DefaultFilter) : 
        short(CcdConstructionInfo::StaticFilter);
    ci.m_collisionFilterMask = 
        (isbulletsensor) ? short(CcdConstructionInfo::AllFilter ^ CcdConstructionInfo::SensorFilter) :
        (isbulletdyna) ? short(CcdConstructionInfo::AllFilter) : 
        short(CcdConstructionInfo::AllFilter ^ CcdConstructionInfo::StaticFilter);
    ci.m_bRigid = objprop->m_dyna && objprop->m_angular_rigidbody;
    
    ci.m_contactProcessingThreshold = objprop->m_contactProcessingThreshold;//todo: expose this in advanced settings, just like margin, default to 10000 or so
    ci.m_bSoft = objprop->m_softbody;
    ci.m_bSensor = isbulletsensor;
    ci.m_bGimpact = useGimpact;
    MT_Vector3 scaling = gameobj->NodeGetWorldScaling();
    ci.m_scaling.setValue(scaling[0], scaling[1], scaling[2]);
    KX_BulletPhysicsController* physicscontroller = new KX_BulletPhysicsController(ci,isbulletdyna,isbulletsensor,objprop->m_hasCompoundChildren);
    // shapeInfo is reference counted, decrement now as we don't use it anymore
    if (shapeInfo)
        shapeInfo->Release();

    gameobj->SetPhysicsController(physicscontroller,isbulletdyna);
    // don't add automatically sensor object, they are added when a collision sensor is registered
    if (!isbulletsensor && objprop->m_in_active_layer)
    {
        env->addCcdPhysicsController( physicscontroller);
    }
    physicscontroller->setNewClientInfo(gameobj->getClientInfo());      
    {
        btRigidBody* rbody = physicscontroller->GetRigidBody();

        if (rbody)
        {
            if (objprop->m_angular_rigidbody)
            {
                btVector3 linearFactor(
                    objprop->m_lockXaxis? 0 : 1,
                    objprop->m_lockYaxis? 0 : 1,
                    objprop->m_lockZaxis? 0 : 1);
                btVector3 angularFactor(
                    objprop->m_lockXRotaxis? 0 : 1,
                    objprop->m_lockYRotaxis? 0 : 1,
                    objprop->m_lockZRotaxis? 0 : 1);
                rbody->setLinearFactor(linearFactor);
                rbody->setAngularFactor(angularFactor);
            }

            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)
    //{
    //  rbody->setCollisionFlags(rbody->getCollisionFlags() | btCollisionObject::CF_NO_CONTACT_RESPONSE);
    //}
    
    if (objprop->m_dyna && !objprop->m_angular_rigidbody)
    {
        /*
        //setting the inertia could achieve similar results to constraint the up
        //but it is prone to instability, so use special 'Angular' constraint
        btVector3 inertia = physicscontroller->GetRigidBody()->getInvInertiaDiagLocal();
        inertia.setX(0.f);
        inertia.setZ(0.f);

        physicscontroller->GetRigidBody()->setInvInertiaDiagLocal(inertia);
        physicscontroller->GetRigidBody()->updateInertiaTensor();
        */

        //env->createConstraint(physicscontroller,0,PHY_ANGULAR_CONSTRAINT,0,0,0,0,0,1);
    
        //Now done directly in ci.m_bRigid so that it propagates to replica
        //physicscontroller->GetRigidBody()->setAngularFactor(0.f);
        ;
    }

    bool isActor = objprop->m_isactor;
    gameobj->getClientInfo()->m_type = 
        (isbulletsensor) ? ((isActor) ? KX_ClientObjectInfo::OBACTORSENSOR : KX_ClientObjectInfo::OBSENSOR) :
        (isActor) ? KX_ClientObjectInfo::ACTOR : KX_ClientObjectInfo::STATIC;
    // store materialname in auxinfo, needed for touchsensors
    if (meshobj)
    {
        const STR_String& matname=meshobj->GetMaterialName(0);
        gameobj->getClientInfo()->m_auxilary_info = (matname.Length() ? (void*)(matname.ReadPtr()+2) : NULL);
    } else
    {
        gameobj->getClientInfo()->m_auxilary_info = 0;
    }


    gameobj->GetSGNode()->AddSGController(physicscontroller);

    STR_String materialname;
    if (meshobj)
        materialname = meshobj->GetMaterialName(0);

    physicscontroller->SetObject(gameobj->GetSGNode());

#if 0

    if (objprop->m_softbody && physicscontroller)
    {
        btSoftBody* softBody = physicscontroller->GetSoftBody();
        if (softBody && gameobj->GetMesh(0))//only the first mesh, if any
        {
            //should be a mesh then, so add a soft body deformer
            KX_SoftBodyDeformer* softbodyDeformer = new KX_SoftBodyDeformer( gameobj->GetMesh(0),(BL_DeformableGameObject*)gameobj);
            gameobj->SetDeformer(softbodyDeformer);
        }
    }
#endif

}


void    KX_ClearBulletSharedShapes()
{
}

/* Refresh the physics object from either an object or a mesh.
 * gameobj must be valid
 * from_gameobj and from_meshobj can be NULL
 * 
 * when setting the mesh, the following vars get priority
 * 1) from_meshobj - creates the phys mesh from RAS_MeshObject
 * 2) from_gameobj - creates the phys mesh from the DerivedMesh where possible, else the RAS_MeshObject
 * 3) gameobj - update the phys mesh from DerivedMesh or RAS_MeshObject
 * 
 * Most of the logic behind this is in shapeInfo->UpdateMesh(...)
 */
bool KX_ReInstanceBulletShapeFromMesh(KX_GameObject *gameobj, KX_GameObject *from_gameobj, RAS_MeshObject* from_meshobj)
{
    KX_BulletPhysicsController  *spc= static_cast<KX_BulletPhysicsController*>((gameobj->GetPhysicsController()));
    CcdShapeConstructionInfo    *shapeInfo;

    /* if this is the child of a compound shape this can happen
     * dont support compound shapes for now */
    if(spc==NULL)
        return false;
    
    shapeInfo = spc->GetShapeInfo();
    
    if(shapeInfo->m_shapeType != PHY_SHAPE_MESH/* || spc->GetSoftBody()*/)
        return false;
    
    spc->DeleteControllerShape();
    
    if(from_gameobj==NULL && from_meshobj==NULL)
        from_gameobj= gameobj;
    
    /* updates the arrays used for making the new bullet mesh */
    shapeInfo->UpdateMesh(from_gameobj, from_meshobj);

    /* create the new bullet mesh */
    CcdConstructionInfo& cci = spc->getConstructionInfo();
    btCollisionShape* bm= shapeInfo->CreateBulletShape(cci.m_margin, cci.m_bGimpact, !cci.m_bSoft);

    spc->ReplaceControllerShape(bm);
    return true;
}
#endif // USE_BULLET