Differential D8762 Diff 28333 intern/rigidbody/rb_bullet_api.cpp

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intern/rigidbody/rb_bullet_api.cpp

Show First 20 Lines • Show All 75 Lines • ▼ Show 20 Lines	struct rbDynamicsWorld {
btOverlapFilterCallback *filterCallback;		btOverlapFilterCallback *filterCallback;
};		};
struct rbRigidBody {		struct rbRigidBody {
btRigidBody *body;		btRigidBody *body;
int col_groups;		int col_groups;
};		};

struct rbVert {		struct rbVert {
float x, y, z;		btScalar x, y, z;
};		};
struct rbTri {		struct rbTri {
int v0, v1, v2;		int v0, v1, v2;
};		};

struct rbMeshData {		struct rbMeshData {
btTriangleIndexVertexArray *index_array;		btTriangleIndexVertexArray *index_array;
rbVert *vertices;		rbVert *vertices;
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}		}

void RB_body_delete(rbRigidBody *object)		void RB_body_delete(rbRigidBody *object)
{		{
btRigidBody *body = object->body;		btRigidBody *body = object->body;

/* motion state */		/* motion state */
btMotionState *ms = body->getMotionState();		btMotionState *ms = body->getMotionState();
if (ms)
delete ms;		delete ms;

/* collision shape is done elsewhere... */		/* collision shape is done elsewhere... */

/* body itself */		/* body itself */

/* manually remove constraint refs of the rigid body, normally this happens when removing		/* manually remove constraint refs of the rigid body, normally this happens when removing
* constraints from the world		* constraints from the world
* but since we delete everything when the world is rebult, we need to do it manually here */		* but since we delete everything when the world is rebult, we need to do it manually here */
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{		{
btRigidBody *body = object->body;		btRigidBody *body = object->body;

/* there isn't really a mass setting, but rather 'inverse mass'		/* there isn't really a mass setting, but rather 'inverse mass'
* which we convert back to mass by taking the reciprocal again		* which we convert back to mass by taking the reciprocal again
*/		*/
float value = (float)body->getInvMass();		float value = (float)body->getInvMass();

if (value)		if (value) {
value = 1.0f / value;		value = 1.0f / value;
		}

return value;		return value;
}		}

void RB_body_set_mass(rbRigidBody *object, float value)		void RB_body_set_mass(rbRigidBody *object, float value)
{		{
btRigidBody *body = object->body;		btRigidBody *body = object->body;
btVector3 localInertia(0, 0, 0);		btVector3 localInertia(0, 0, 0);
▲ Show 20 Lines • Show All 134 Lines • ▼ Show 20 Lines	void RB_body_set_angular_factor(rbRigidBody *object, float x, float y, float z)
body->setAngularFactor(btVector3(x, y, z));		body->setAngularFactor(btVector3(x, y, z));
}		}

/* ............ */		/* ............ */

void RB_body_set_kinematic_state(rbRigidBody *object, int kinematic)		void RB_body_set_kinematic_state(rbRigidBody *object, int kinematic)
{		{
btRigidBody *body = object->body;		btRigidBody *body = object->body;
if (kinematic)		if (kinematic) {
body->setCollisionFlags(body->getCollisionFlags() \| btCollisionObject::CF_KINEMATIC_OBJECT);		body->setCollisionFlags(body->getCollisionFlags() \| btCollisionObject::CF_KINEMATIC_OBJECT);
else		}
		else {
body->setCollisionFlags(body->getCollisionFlags() & ~btCollisionObject::CF_KINEMATIC_OBJECT);		body->setCollisionFlags(body->getCollisionFlags() & ~btCollisionObject::CF_KINEMATIC_OBJECT);
}		}
		}

/* ............ */		/* ............ */

void RB_body_set_activation_state(rbRigidBody *object, int use_deactivation)		void RB_body_set_activation_state(rbRigidBody *object, int use_deactivation)
{		{
btRigidBody *body = object->body;		btRigidBody *body = object->body;
if (use_deactivation)		if (use_deactivation) {
body->forceActivationState(ACTIVE_TAG);		body->forceActivationState(ACTIVE_TAG);
else		}
		else {
body->setActivationState(DISABLE_DEACTIVATION);		body->setActivationState(DISABLE_DEACTIVATION);
}		}
		}
void RB_body_activate(rbRigidBody *object)		void RB_body_activate(rbRigidBody *object)
{		{
btRigidBody *body = object->body;		btRigidBody *body = object->body;
body->setActivationState(ACTIVE_TAG);		body->setActivationState(ACTIVE_TAG);
}		}
void RB_body_deactivate(rbRigidBody *object)		void RB_body_deactivate(rbRigidBody *object)
{		{
btRigidBody *body = object->body;		btRigidBody *body = object->body;
Show All 38 Lines	void RB_body_set_scale(rbRigidBody *object, const float scale[3])
btRigidBody *body = object->body;		btRigidBody *body = object->body;

/* apply scaling factor from matrix above to the collision shape */		/* apply scaling factor from matrix above to the collision shape */
btCollisionShape *cshape = body->getCollisionShape();		btCollisionShape *cshape = body->getCollisionShape();
if (cshape) {		if (cshape) {
cshape->setLocalScaling(btVector3(scale[0], scale[1], scale[2]));		cshape->setLocalScaling(btVector3(scale[0], scale[1], scale[2]));

/* GIimpact shapes have to be updated to take scaling into account */		/* GIimpact shapes have to be updated to take scaling into account */
if (cshape->getShapeType() == GIMPACT_SHAPE_PROXYTYPE)		if (cshape->getShapeType() == GIMPACT_SHAPE_PROXYTYPE) {
((btGImpactMeshShape *)cshape)->updateBound();		((btGImpactMeshShape *)cshape)->updateBound();
}		}
}		}
		}

/* ............ */		/* ............ */
/* Read-only state info about status of simulation */		/* Read-only state info about status of simulation */

void RB_body_get_position(rbRigidBody *object, float v_out[3])		void RB_body_get_position(rbRigidBody *object, float v_out[3])
{		{
btRigidBody *body = object->body;		btRigidBody *body = object->body;

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}		}

void RB_trimesh_finish(rbMeshData *mesh)		void RB_trimesh_finish(rbMeshData *mesh)
{		{
mesh->index_array = new btTriangleIndexVertexArray(mesh->num_triangles,		mesh->index_array = new btTriangleIndexVertexArray(mesh->num_triangles,
(int *)mesh->triangles,		(int *)mesh->triangles,
sizeof(rbTri),		sizeof(rbTri),
mesh->num_vertices,		mesh->num_vertices,
(float *)mesh->vertices,		(btScalar *)mesh->vertices,
sizeof(rbVert));		sizeof(rbVert));
}		}

rbCollisionShape RB_shape_new_trimesh(rbMeshData mesh)		rbCollisionShape RB_shape_new_trimesh(rbMeshData mesh)
{		{
rbCollisionShape *shape = new rbCollisionShape;		rbCollisionShape *shape = new rbCollisionShape;

/* triangle-mesh we create is a BVH wrapper for triangle mesh data (for faster lookups) */		/* triangle-mesh we create is a BVH wrapper for triangle mesh data (for faster lookups) */
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void RB_shape_trimesh_update(rbCollisionShape *shape,		void RB_shape_trimesh_update(rbCollisionShape *shape,
float *vertices,		float *vertices,
int num_verts,		int num_verts,
int vert_stride,		int vert_stride,
float min[3],		float min[3],
float max[3])		float max[3])
{		{
if (shape->mesh == NULL \|\| num_verts != shape->mesh->num_vertices)		if (shape->mesh == NULL \|\| num_verts != shape->mesh->num_vertices) {
return;		return;
		}

for (int i = 0; i < num_verts; i++) {		for (int i = 0; i < num_verts; i++) {
float vert = (float )(((char )vertices + i vert_stride));		float vert = (float )(((char )vertices + i vert_stride));
shape->mesh->vertices[i].x = vert[0];		shape->mesh->vertices[i].x = vert[0];
shape->mesh->vertices[i].y = vert[1];		shape->mesh->vertices[i].y = vert[1];
shape->mesh->vertices[i].z = vert[2];		shape->mesh->vertices[i].z = vert[2];
}		}

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/* Cleanup --------------------------- */		/* Cleanup --------------------------- */

void RB_shape_delete(rbCollisionShape *shape)		void RB_shape_delete(rbCollisionShape *shape)
{		{
if (shape->cshape->getShapeType() == SCALED_TRIANGLE_MESH_SHAPE_PROXYTYPE) {		if (shape->cshape->getShapeType() == SCALED_TRIANGLE_MESH_SHAPE_PROXYTYPE) {
btBvhTriangleMeshShape *child_shape =		btBvhTriangleMeshShape *child_shape =
((btScaledBvhTriangleMeshShape *)shape->cshape)->getChildShape();		((btScaledBvhTriangleMeshShape *)shape->cshape)->getChildShape();
if (child_shape)
delete child_shape;		delete child_shape;
}		}
if (shape->mesh)		if (shape->mesh) {
RB_trimesh_data_delete(shape->mesh);		RB_trimesh_data_delete(shape->mesh);
		}
delete shape->cshape;		delete shape->cshape;

/* Delete compound child shapes if there are any */		/* Delete compound child shapes if there are any */
for (int i = 0; i < shape->compoundChilds; i++) {		for (int i = 0; i < shape->compoundChilds; i++) {
RB_shape_delete(shape->compoundChildShapes[i]);		RB_shape_delete(shape->compoundChildShapes[i]);
}		}
if (shape->compoundChildShapes != NULL) {		if (shape->compoundChildShapes != NULL) {
free(shape->compoundChildShapes);		free(shape->compoundChildShapes);
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