[Bf-blender-cvs] SVN commit: /data/svn/bf-blender [18492] trunk/blender/source/gameengine: BGE patch: dynamically update the coumpound parent shape when parenting to a compound object .

Benoit Bolsee benoit.bolsee at online.be
Tue Jan 13 23:59:19 CET 2009


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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