[Bf-blender-cvs] [820ca419e09] master: Add compound shape for rigid body simulation
David Vogel
noreply at git.blender.org
Thu Jul 30 18:53:52 CEST 2020
Commit: 820ca419e098f1ac90b499180a3206dd44692ba8
Author: David Vogel
Date: Thu Jul 30 18:35:34 2020 +0200
Branches: master
https://developer.blender.org/rB820ca419e098f1ac90b499180a3206dd44692ba8
Add compound shape for rigid body simulation
This patch adds a new compound shape entry to the shape selection
dropdown. It also corrects wrong inertia calculation for convex hulls,
that resulted in strange behavior for small objects.
The compound shape take the collision shapes from its object children
and combines them. This makes it possible to create concave shapes from
primitive shapes. Using this instead of the mesh collision shape is
often many times faster.
Reviewed By: Sergey, Sebastian Parborg
Differential Revision: http://developer.blender.org/D5797
===================================================================
A extern/bullet2/patches/btPolyhedralConvexShape_Inertia_fix.patch
M extern/bullet2/src/BulletCollision/CollisionShapes/btCompoundShape.cpp
M extern/bullet2/src/BulletCollision/CollisionShapes/btPolyhedralConvexShape.cpp
M intern/rigidbody/RBI_api.h
M intern/rigidbody/rb_bullet_api.cpp
M release/scripts/startup/bl_ui/properties_physics_rigidbody.py
M source/blender/blenkernel/intern/pointcache.c
M source/blender/blenkernel/intern/rigidbody.c
M source/blender/depsgraph/intern/builder/deg_builder_relations.cc
M source/blender/makesdna/DNA_rigidbody_types.h
M source/blender/makesrna/intern/rna_rigidbody.c
===================================================================
diff --git a/extern/bullet2/patches/btPolyhedralConvexShape_Inertia_fix.patch b/extern/bullet2/patches/btPolyhedralConvexShape_Inertia_fix.patch
new file mode 100644
index 00000000000..abafb5855dd
--- /dev/null
+++ b/extern/bullet2/patches/btPolyhedralConvexShape_Inertia_fix.patch
@@ -0,0 +1,41 @@
+diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btPolyhedralConvexShape.cpp b/extern/bullet2/src/BulletCollision/CollisionShapes/btPolyhedralConvexShape.cpp
+index 9095c592d87..b831e20c2f9 100644
+--- a/extern/bullet2/src/BulletCollision/CollisionShapes/btPolyhedralConvexShape.cpp
++++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btPolyhedralConvexShape.cpp
+@@ -406,17 +406,17 @@ void btPolyhedralConvexShape::calculateLocalInertia(btScalar mass,btVector3& ine
+ #ifndef __SPU__
+ //not yet, return box inertia
+
+- btScalar margin = getMargin();
++ //btScalar margin = getMargin();
+
+ btTransform ident;
+ ident.setIdentity();
+ btVector3 aabbMin,aabbMax;
+- getAabb(ident,aabbMin,aabbMax);
++ getAabb(ident,aabbMin,aabbMax); // This already contains the margin
+ btVector3 halfExtents = (aabbMax-aabbMin)*btScalar(0.5);
+
+- btScalar lx=btScalar(2.)*(halfExtents.x()+margin);
+- btScalar ly=btScalar(2.)*(halfExtents.y()+margin);
+- btScalar lz=btScalar(2.)*(halfExtents.z()+margin);
++ btScalar lx=btScalar(2.)*(halfExtents.x());
++ btScalar ly=btScalar(2.)*(halfExtents.y());
++ btScalar lz=btScalar(2.)*(halfExtents.z());
+ const btScalar x2 = lx*lx;
+ const btScalar y2 = ly*ly;
+ const btScalar z2 = lz*lz;
+@@ -476,10 +476,10 @@ void btPolyhedralConvexAabbCachingShape::recalcLocalAabb()
+
+ for ( int i = 0; i < 3; ++i )
+ {
+- m_localAabbMax[i] = _supporting[i][i] + m_collisionMargin;
+- m_localAabbMin[i] = _supporting[i + 3][i] - m_collisionMargin;
++ m_localAabbMax[i] = _supporting[i][i];
++ m_localAabbMin[i] = _supporting[i + 3][i];
+ }
+-
++
+ #else
+
+ for (int i=0;i<3;i++)
diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btCompoundShape.cpp b/extern/bullet2/src/BulletCollision/CollisionShapes/btCompoundShape.cpp
index e8c8c336cd2..1e7f36e0a17 100644
--- a/extern/bullet2/src/BulletCollision/CollisionShapes/btCompoundShape.cpp
+++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btCompoundShape.cpp
@@ -180,7 +180,7 @@ void btCompoundShape::getAabb(const btTransform& trans,btVector3& aabbMin,btVect
localHalfExtents += btVector3(getMargin(),getMargin(),getMargin());
- btMatrix3x3 abs_b = trans.getBasis().absolute();
+ btMatrix3x3 abs_b = trans.getBasis().absolute();
btVector3 center = trans(localCenter);
diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btPolyhedralConvexShape.cpp b/extern/bullet2/src/BulletCollision/CollisionShapes/btPolyhedralConvexShape.cpp
index 9095c592d87..b831e20c2f9 100644
--- a/extern/bullet2/src/BulletCollision/CollisionShapes/btPolyhedralConvexShape.cpp
+++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btPolyhedralConvexShape.cpp
@@ -406,17 +406,17 @@ void btPolyhedralConvexShape::calculateLocalInertia(btScalar mass,btVector3& ine
#ifndef __SPU__
//not yet, return box inertia
- btScalar margin = getMargin();
+ //btScalar margin = getMargin();
btTransform ident;
ident.setIdentity();
btVector3 aabbMin,aabbMax;
- getAabb(ident,aabbMin,aabbMax);
+ getAabb(ident,aabbMin,aabbMax); // This already contains the margin
btVector3 halfExtents = (aabbMax-aabbMin)*btScalar(0.5);
- btScalar lx=btScalar(2.)*(halfExtents.x()+margin);
- btScalar ly=btScalar(2.)*(halfExtents.y()+margin);
- btScalar lz=btScalar(2.)*(halfExtents.z()+margin);
+ btScalar lx=btScalar(2.)*(halfExtents.x());
+ btScalar ly=btScalar(2.)*(halfExtents.y());
+ btScalar lz=btScalar(2.)*(halfExtents.z());
const btScalar x2 = lx*lx;
const btScalar y2 = ly*ly;
const btScalar z2 = lz*lz;
@@ -476,10 +476,10 @@ void btPolyhedralConvexAabbCachingShape::recalcLocalAabb()
for ( int i = 0; i < 3; ++i )
{
- m_localAabbMax[i] = _supporting[i][i] + m_collisionMargin;
- m_localAabbMin[i] = _supporting[i + 3][i] - m_collisionMargin;
+ m_localAabbMax[i] = _supporting[i][i];
+ m_localAabbMin[i] = _supporting[i + 3][i];
}
-
+
#else
for (int i=0;i<3;i++)
diff --git a/intern/rigidbody/RBI_api.h b/intern/rigidbody/RBI_api.h
index d46cb5a7eed..199e9f6f197 100644
--- a/intern/rigidbody/RBI_api.h
+++ b/intern/rigidbody/RBI_api.h
@@ -238,6 +238,14 @@ rbCollisionShape *RB_shape_new_trimesh(rbMeshData *mesh);
/* 2b - GImpact Meshes */
rbCollisionShape *RB_shape_new_gimpact_mesh(rbMeshData *mesh);
+/* Compound Shape ---------------- */
+
+rbCollisionShape *RB_shape_new_compound();
+void RB_compound_add_child_shape(rbCollisionShape *collisionShape,
+ rbCollisionShape *shape,
+ const float loc[3],
+ const float rot[4]);
+
/* Cleanup --------------------------- */
void RB_shape_delete(rbCollisionShape *shape);
diff --git a/intern/rigidbody/rb_bullet_api.cpp b/intern/rigidbody/rb_bullet_api.cpp
index a8bf1420523..db8c062990c 100644
--- a/intern/rigidbody/rb_bullet_api.cpp
+++ b/intern/rigidbody/rb_bullet_api.cpp
@@ -98,6 +98,8 @@ struct rbMeshData {
struct rbCollisionShape {
btCollisionShape *cshape;
rbMeshData *mesh;
+ rbCollisionShape **compoundChildShapes;
+ int compoundChilds;
};
struct rbFilterCallback : public btOverlapFilterCallback {
@@ -331,6 +333,7 @@ rbRigidBody *RB_body_new(rbCollisionShape *shape, const float loc[3], const floa
rbRigidBody *object = new rbRigidBody;
/* current transform */
btTransform trans;
+ trans.setIdentity();
trans.setOrigin(btVector3(loc[0], loc[1], loc[2]));
trans.setRotation(btQuaternion(rot[1], rot[2], rot[3], rot[0]));
@@ -413,6 +416,10 @@ void RB_body_set_mass(rbRigidBody *object, float value)
shape->calculateLocalInertia(value, localInertia);
}
+ btVector3 minAabb, maxAabb;
+ btTransform ident;
+ ident.setIdentity();
+ body->getCollisionShape()->getAabb(ident, minAabb, maxAabb);
body->setMassProps(value, localInertia);
body->updateInertiaTensor();
}
@@ -597,6 +604,7 @@ void RB_body_set_loc_rot(rbRigidBody *object, const float loc[3], const float ro
/* set transform matrix */
btTransform trans;
+ trans.setIdentity();
trans.setOrigin(btVector3(loc[0], loc[1], loc[2]));
trans.setRotation(btQuaternion(rot[1], rot[2], rot[3], rot[0]));
@@ -655,6 +663,8 @@ rbCollisionShape *RB_shape_new_box(float x, float y, float z)
rbCollisionShape *shape = new rbCollisionShape;
shape->cshape = new btBoxShape(btVector3(x, y, z));
shape->mesh = NULL;
+ shape->compoundChilds = 0;
+ shape->compoundChildShapes = NULL;
return shape;
}
@@ -663,6 +673,8 @@ rbCollisionShape *RB_shape_new_sphere(float radius)
rbCollisionShape *shape = new rbCollisionShape;
shape->cshape = new btSphereShape(radius);
shape->mesh = NULL;
+ shape->compoundChilds = 0;
+ shape->compoundChildShapes = NULL;
return shape;
}
@@ -671,6 +683,8 @@ rbCollisionShape *RB_shape_new_capsule(float radius, float height)
rbCollisionShape *shape = new rbCollisionShape;
shape->cshape = new btCapsuleShapeZ(radius, height);
shape->mesh = NULL;
+ shape->compoundChilds = 0;
+ shape->compoundChildShapes = NULL;
return shape;
}
@@ -679,6 +693,8 @@ rbCollisionShape *RB_shape_new_cone(float radius, float height)
rbCollisionShape *shape = new rbCollisionShape;
shape->cshape = new btConeShapeZ(radius, height);
shape->mesh = NULL;
+ shape->compoundChilds = 0;
+ shape->compoundChildShapes = NULL;
return shape;
}
@@ -687,6 +703,8 @@ rbCollisionShape *RB_shape_new_cylinder(float radius, float height)
rbCollisionShape *shape = new rbCollisionShape;
shape->cshape = new btCylinderShapeZ(btVector3(radius, radius, height));
shape->mesh = NULL;
+ shape->compoundChilds = 0;
+ shape->compoundChildShapes = NULL;
return shape;
}
@@ -709,6 +727,8 @@ rbCollisionShape *RB_shape_new_convex_hull(
shape->cshape = hull_shape;
shape->mesh = NULL;
+ shape->compoundChilds = 0;
+ shape->compoundChildShapes = NULL;
return shape;
}
@@ -773,6 +793,8 @@ rbCollisionShape *RB_shape_new_trimesh(rbMeshData *mesh)
shape->cshape = new btScaledBvhTriangleMeshShape(unscaledShape, btVector3(1.0f, 1.0f, 1.0f));
shape->mesh = mesh;
+ shape->compoundChilds = 0;
+ shape->compoundChildShapes = NULL;
return shape;
}
@@ -813,9 +835,46 @@ rbCollisionShape *RB_shape_new_gimpact_mesh(rbMeshData *mesh)
shape->cshape = gimpactShape;
shape->mesh = mesh;
+ shape->compoundChilds = 0;
+ shape->compoundChildShapes = NULL;
return shape;
}
+/* Compound Shape ---------------- */
+
+rbCollisionShape *RB_shape_new_compound()
+{
+ rbCollisionShape *shape = new rbCollisionShape;
+ btCompoundShape *compoundShape = new btCompoundShape();
+
+ shape->cshape = compoundShape;
+ shape->mesh = NULL;
+ shape->compoundChilds = 0;
+ shape->compoundChildShapes = NULL;
+ return shape;
+}
+
+void RB_compound_add_child_shape(rbCollisionShape *parentShape,
+ rbCollisionShape *shape,
+ const float loc[3],
+ const float rot[4])
+{
+ /* set transform matrix */
+ btTransform trans;
+ trans.setIdentity();
+ trans.setOrigin(btVector3(loc[0], loc[1], loc[2]));
+ trans.setRotation(btQuaternion(rot[1], rot[2], rot[3], rot[0]));
+
+ btCompoundShape *compoundShape = (btCompoundShape *)(parentShape->cshape);
+ compoundShape->addChildShape(trans, shape->cshape);
+
+ /* Store shapes for deletion later */
+ parentShape->compoundChildShapes = (rbCollisionShape **)(realloc(
+ parentShape->compoundChildShapes,
+ sizeof(rbCollisionShape *) * (++parentShape->compoundChilds)));
+ parentShape->compoundChildShapes[parentShape->compoundChilds - 1] = shape;
+}
+
/* Cleanup --------------------------- */
void RB_shape_delete(rbCollisionShape *shape)
@@ -829,6 +888,15 @@ void RB_shape_delete(rbCollisionShape *shape)
if (shape->mesh)
RB_trimesh_data_delete(shape->mesh);
delete shape->cshape;
+
+ /* Delete compound child shapes if there are any */
+ for (int i = 0; i
@@ Diff output truncated at 10240 characters. @@
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