Revision: 15668
http://projects.blender.org/plugins/scmsvn/viewcvs.php?view=rev&root=bf-blender&revision=15668
Author: ben2610
Date: 2008-07-21 14:37:27 +0200 (Mon, 21 Jul 2008)
Log Message:
-----------
BGE patch: Optimization of bullet adaptation layer - part 1.
First batch of optimizaton of the bullet adaptation layer in the BGE.
- remove circular motion state update.
- optimization of physic adaptation layer for bullet: bypass
unecessary conversion of rotation matrix to quaternion and back.
- remove double updates during object replication.
Modified Paths:
--------------
trunk/blender/source/gameengine/Ketsji/KX_BulletPhysicsController.cpp
trunk/blender/source/gameengine/Ketsji/KX_BulletPhysicsController.h
trunk/blender/source/gameengine/Ketsji/KX_GameObject.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_RadarSensor.cpp
trunk/blender/source/gameengine/Ketsji/KX_Scene.cpp
trunk/blender/source/gameengine/Ketsji/KX_SumoPhysicsController.cpp
trunk/blender/source/gameengine/Ketsji/KX_SumoPhysicsController.h
trunk/blender/source/gameengine/Physics/Bullet/CcdPhysicsController.cpp
trunk/blender/source/gameengine/Physics/Bullet/CcdPhysicsController.h
Modified: trunk/blender/source/gameengine/Ketsji/KX_BulletPhysicsController.cpp
===================================================================
--- trunk/blender/source/gameengine/Ketsji/KX_BulletPhysicsController.cpp
2008-07-21 11:21:49 UTC (rev 15667)
+++ trunk/blender/source/gameengine/Ketsji/KX_BulletPhysicsController.cpp
2008-07-21 12:37:27 UTC (rev 15668)
@@ -133,9 +133,10 @@
CcdPhysicsController::getOrientation(myorn[0],myorn[1],myorn[2],myorn[3]);
orn = MT_Quaternion(myorn[0],myorn[1],myorn[2],myorn[3]);
}
-void KX_BulletPhysicsController::setOrientation(const MT_Quaternion& orn)
+void KX_BulletPhysicsController::setOrientation(const MT_Matrix3x3& orn)
{
- CcdPhysicsController::setOrientation(orn.x(),orn.y(),orn.z(),orn.w());
+ btMatrix3x3 btmat(orn[0][0], orn[0][1], orn[1][2], orn[1][0],
orn[1][1], orn[1][2], orn[2][0], orn[2][1], orn[2][2]);
+ CcdPhysicsController::setWorldOrientation(btmat);
}
void KX_BulletPhysicsController::setPosition(const MT_Point3& pos)
{
Modified: trunk/blender/source/gameengine/Ketsji/KX_BulletPhysicsController.h
===================================================================
--- trunk/blender/source/gameengine/Ketsji/KX_BulletPhysicsController.h
2008-07-21 11:21:49 UTC (rev 15667)
+++ trunk/blender/source/gameengine/Ketsji/KX_BulletPhysicsController.h
2008-07-21 12:37:27 UTC (rev 15668)
@@ -35,7 +35,7 @@
virtual void SetAngularVelocity(const MT_Vector3& ang_vel,bool
local);
virtual void SetLinearVelocity(const MT_Vector3& lin_vel,bool local);
virtual void getOrientation(MT_Quaternion& orn);
- virtual void setOrientation(const MT_Quaternion& orn);
+ virtual void setOrientation(const MT_Matrix3x3& orn);
virtual void setPosition(const MT_Point3& pos);
virtual void setScaling(const MT_Vector3& scaling);
virtual MT_Scalar GetMass();
Modified: trunk/blender/source/gameengine/Ketsji/KX_GameObject.cpp
===================================================================
--- trunk/blender/source/gameengine/Ketsji/KX_GameObject.cpp 2008-07-21
11:21:49 UTC (rev 15667)
+++ trunk/blender/source/gameengine/Ketsji/KX_GameObject.cpp 2008-07-21
12:37:27 UTC (rev 15668)
@@ -744,7 +744,7 @@
if (m_pPhysicsController1 && (!GetSGNode() ||
!GetSGNode()->GetSGParent()))
{
// see note above
- m_pPhysicsController1->setOrientation(rot.getRotation());
+ m_pPhysicsController1->setOrientation(rot);
}
if (GetSGNode())
GetSGNode()->SetLocalOrientation(rot);
Modified: trunk/blender/source/gameengine/Ketsji/KX_IPhysicsController.h
===================================================================
--- trunk/blender/source/gameengine/Ketsji/KX_IPhysicsController.h
2008-07-21 11:21:49 UTC (rev 15667)
+++ trunk/blender/source/gameengine/Ketsji/KX_IPhysicsController.h
2008-07-21 12:37:27 UTC (rev 15668)
@@ -71,7 +71,8 @@
virtual void resolveCombinedVelocities(float linvelX,float
linvelY,float linvelZ,float angVelX,float angVelY,float angVelZ) = 0;
virtual void getOrientation(MT_Quaternion& orn)=0;
- virtual void setOrientation(const MT_Quaternion& orn)=0;
+ virtual void setOrientation(const MT_Matrix3x3& orn)=0;
+ //virtual void setOrientation(const MT_Quaternion& orn)=0;
virtual void setPosition(const MT_Point3& pos)=0;
virtual void setScaling(const MT_Vector3& scaling)=0;
virtual MT_Scalar GetMass()=0;
Modified: trunk/blender/source/gameengine/Ketsji/KX_OdePhysicsController.cpp
===================================================================
--- trunk/blender/source/gameengine/Ketsji/KX_OdePhysicsController.cpp
2008-07-21 11:21:49 UTC (rev 15667)
+++ trunk/blender/source/gameengine/Ketsji/KX_OdePhysicsController.cpp
2008-07-21 12:37:27 UTC (rev 15668)
@@ -133,8 +133,9 @@
ODEPhysicsController::SetLinearVelocity(lin_vel[0],lin_vel[1],lin_vel[2],local);
}
-void KX_OdePhysicsController::setOrientation(const MT_Quaternion& orn)
+void KX_OdePhysicsController::setOrientation(const MT_Matrix3x3& rot)
{
+ MT_Quaternion orn = rot.getRotation();
ODEPhysicsController::setOrientation(orn[0],orn[1],orn[2],orn[3]);
}
Modified: trunk/blender/source/gameengine/Ketsji/KX_OdePhysicsController.h
===================================================================
--- trunk/blender/source/gameengine/Ketsji/KX_OdePhysicsController.h
2008-07-21 11:21:49 UTC (rev 15667)
+++ trunk/blender/source/gameengine/Ketsji/KX_OdePhysicsController.h
2008-07-21 12:37:27 UTC (rev 15668)
@@ -67,7 +67,7 @@
virtual void SetLinearVelocity(const MT_Vector3& lin_vel,bool local);
virtual void resolveCombinedVelocities(float linvelX,float
linvelY,float linvelZ,float angVelX,float angVelY,float angVelZ);
virtual void getOrientation(MT_Quaternion& orn);
- virtual void setOrientation(const MT_Quaternion& orn);
+ virtual void setOrientation(const MT_Matrix3x3& orn);
virtual void setPosition(const MT_Point3& pos);
virtual void setScaling(const MT_Vector3& scaling);
virtual MT_Scalar GetMass();
Modified: trunk/blender/source/gameengine/Ketsji/KX_RadarSensor.cpp
===================================================================
--- trunk/blender/source/gameengine/Ketsji/KX_RadarSensor.cpp 2008-07-21
11:21:49 UTC (rev 15667)
+++ trunk/blender/source/gameengine/Ketsji/KX_RadarSensor.cpp 2008-07-21
12:37:27 UTC (rev 15668)
@@ -176,8 +176,10 @@
if (m_physCtrl)
{
-
m_physCtrl->setPosition(trans.getOrigin().x(),trans.getOrigin().y(),trans.getOrigin().z());
-
m_physCtrl->setOrientation(trans.getRotation().x(),trans.getRotation().y(),trans.getRotation().z(),trans.getRotation().w());
+ MT_Quaternion orn = trans.getRotation();
+ MT_Point3 pos = trans.getOrigin();
+ m_physCtrl->setPosition(pos[0],pos[1],pos[2]);
+ m_physCtrl->setOrientation(orn[0],orn[1],orn[2],orn[3]);
m_physCtrl->calcXform();
}
Modified: trunk/blender/source/gameengine/Ketsji/KX_Scene.cpp
===================================================================
--- trunk/blender/source/gameengine/Ketsji/KX_Scene.cpp 2008-07-21 11:21:49 UTC
(rev 15667)
+++ trunk/blender/source/gameengine/Ketsji/KX_Scene.cpp 2008-07-21 12:37:27 UTC
(rev 15668)
@@ -712,8 +712,12 @@
if (replica->GetPhysicsController())
{
- replica->GetPhysicsController()->setPosition(newpos);
-
replica->GetPhysicsController()->setOrientation(newori.getRotation());
+ // not required, already done in
NodeSetLocalOrientation..
+ //replica->GetPhysicsController()->setPosition(newpos);
+
//replica->GetPhysicsController()->setOrientation(newori.getRotation());
+ // Scaling has been set relatively hereabove, this does
not
+ // set the scaling of the controller. I don't know why
it's just the
+ // relative scale and not the full scale that has to be
put here...
replica->GetPhysicsController()->setScaling(newscale);
}
@@ -843,8 +847,9 @@
if (replica->GetPhysicsController())
{
- replica->GetPhysicsController()->setPosition(newpos);
-
replica->GetPhysicsController()->setOrientation(newori.getRotation());
+ // not needed, already done in NodeSetLocalPosition()
+ //replica->GetPhysicsController()->setPosition(newpos);
+
//replica->GetPhysicsController()->setOrientation(newori.getRotation());
replica->GetPhysicsController()->setScaling(newscale);
}
Modified: trunk/blender/source/gameengine/Ketsji/KX_SumoPhysicsController.cpp
===================================================================
--- trunk/blender/source/gameengine/Ketsji/KX_SumoPhysicsController.cpp
2008-07-21 11:21:49 UTC (rev 15667)
+++ trunk/blender/source/gameengine/Ketsji/KX_SumoPhysicsController.cpp
2008-07-21 12:37:27 UTC (rev 15668)
@@ -170,8 +170,9 @@
}
-void KX_SumoPhysicsController::setOrientation(const MT_Quaternion& orn)
+void KX_SumoPhysicsController::setOrientation(const MT_Matrix3x3& rot)
{
+ MT_Quaternion orn = rot.getRotation();
SumoPhysicsController::setOrientation(
orn[0],orn[1],orn[2],orn[3]);
Modified: trunk/blender/source/gameengine/Ketsji/KX_SumoPhysicsController.h
===================================================================
--- trunk/blender/source/gameengine/Ketsji/KX_SumoPhysicsController.h
2008-07-21 11:21:49 UTC (rev 15667)
+++ trunk/blender/source/gameengine/Ketsji/KX_SumoPhysicsController.h
2008-07-21 12:37:27 UTC (rev 15668)
@@ -79,7 +79,7 @@
void SuspendDynamics(bool);
void RestoreDynamics();
virtual void getOrientation(MT_Quaternion& orn);
- virtual void setOrientation(const MT_Quaternion& orn);
+ virtual void setOrientation(const MT_Matrix3x3& orn);
virtual void setPosition(const MT_Point3& pos);
virtual void setScaling(const MT_Vector3& scaling);
Modified:
trunk/blender/source/gameengine/Physics/Bullet/CcdPhysicsController.cpp
===================================================================
--- trunk/blender/source/gameengine/Physics/Bullet/CcdPhysicsController.cpp
2008-07-21 11:21:49 UTC (rev 15667)
+++ trunk/blender/source/gameengine/Physics/Bullet/CcdPhysicsController.cpp
2008-07-21 12:37:27 UTC (rev 15668)
@@ -337,16 +337,37 @@
{
m_body->setCollisionFlags(m_body->getCollisionFlags() |
btCollisionObject::CF_KINEMATIC_OBJECT);
}
-
-
m_MotionState->setWorldOrientation(quatImag0,quatImag1,quatImag2,quatReal);
+ // not required
+
//m_MotionState->setWorldOrientation(quatImag0,quatImag1,quatImag2,quatReal);
btTransform xform = m_body->getCenterOfMassTransform();
xform.setRotation(btQuaternion(quatImag0,quatImag1,quatImag2,quatReal));
m_body->setCenterOfMassTransform(xform);
- m_bulletMotionState->setWorldTransform(xform);
+ // not required
+ //m_bulletMotionState->setWorldTransform(xform);
}
}
+void CcdPhysicsController::setWorldOrientation(const btMatrix3x3& orn)
+{
+ if (m_body)
+ {
+ m_body->activate(true);
+ if (m_body->isStaticObject())
+ {
+ m_body->setCollisionFlags(m_body->getCollisionFlags() |
btCollisionObject::CF_KINEMATIC_OBJECT);
+ }
+ // not required
+
//m_MotionState->setWorldOrientation(quatImag0,quatImag1,quatImag2,quatReal);
+ btTransform xform = m_body->getCenterOfMassTransform();
+ xform.setBasis(orn);
+ m_body->setCenterOfMassTransform(xform);
+ // not required
+ //m_bulletMotionState->setWorldTransform(xform);
+ }
+
+}
+
void CcdPhysicsController::setPosition(float posX,float posY,float
posZ)
{
if (m_body)
@@ -356,12 +377,13 @@
{
m_body->setCollisionFlags(m_body->getCollisionFlags() |
btCollisionObject::CF_KINEMATIC_OBJECT);
}
-
- m_MotionState->setWorldPosition(posX,posY,posZ);
@@ Diff output truncated at 10240 characters. @@
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