Improved rigid body handling for non spherical bounds type.

Polyheder dynamic objects are now converted properly.

4 files changed, 42 insertions, 34 deletions

diff --git a/source/gameengine/Converter/BL_BlenderDataConversion.cpp b/source/gameengine/Converter/BL_BlenderDataConversion.cpp
index ac66bfba4b8..6f58198c75f 100644
--- a/source/gameengine/Converter/BL_BlenderDataConversion.cpp
+++ b/source/gameengine/Converter/BL_BlenderDataConversion.cpp
@@ -496,7 +496,7 @@ static PHY_ShapeProps *CreateShapePropsFromBlenderObject(struct Object* blendero
 	
 // in Blender, inertia stands for the size value which is equivalent to
 // the sphere radius
-	shapeProps->m_inertia = blenderobject->formfactor * blenderobject->mass * blenderobject->inertia * blenderobject->inertia;
+	shapeProps->m_inertia = blenderobject->formfactor;
 	
 	assert(0.0f <= blenderobject->damping && blenderobject->damping <= 1.0f);
 	assert(0.0f <= blenderobject->rdamping && blenderobject->rdamping <= 1.0f);
@@ -734,6 +734,11 @@ void BL_CreatePhysicsObjectNew(KX_GameObject* gameobj,
 				objprop.m_boundobject.c.m_height = 2.f*bb.m_extends[2];
 				break;
 			}
+			case OB_BOUND_POLYH:
+			{
+				objprop.m_boundclass = KX_BOUNDMESH;
+				break;
+			}
 		}
 	}
 
diff --git a/source/gameengine/Ketsji/KX_ConvertPhysicsObjects.cpp b/source/gameengine/Ketsji/KX_ConvertPhysicsObjects.cpp
index 11a97d680bb..dd886dcf322 100644
--- a/source/gameengine/Ketsji/KX_ConvertPhysicsObjects.cpp
+++ b/source/gameengine/Ketsji/KX_ConvertPhysicsObjects.cpp
@@ -130,27 +130,42 @@ void	KX_ConvertSumoObject(	KX_GameObject* gameobj,
 		switch (objprop->m_boundclass)
 		{
 			case KX_BOUNDBOX:
-				shape = DT_NewBox(objprop->m_boundobject.box.m_extends[0], objprop->m_boundobject.box.m_extends[1], objprop->m_boundobject.box.m_extends[2]);
-				smprop->m_inertia.scale(objprop->m_boundobject.box.m_extends[0], objprop->m_boundobject.box.m_extends[1], objprop->m_boundobject.box.m_extends[2]);
-				smprop->m_inertia /= (objprop->m_boundobject.box.m_extends[0] + objprop->m_boundobject.box.m_extends[1] + objprop->m_boundobject.box.m_extends[2]) / 3.;
+				shape = DT_NewBox(objprop->m_boundobject.box.m_extends[0], 
+						objprop->m_boundobject.box.m_extends[1], 
+						objprop->m_boundobject.box.m_extends[2]);
+				smprop->m_inertia.scale(objprop->m_boundobject.box.m_extends[0]*objprop->m_boundobject.box.m_extends[0],
+					objprop->m_boundobject.box.m_extends[1]*objprop->m_boundobject.box.m_extends[1],
+					objprop->m_boundobject.box.m_extends[2]*objprop->m_boundobject.box.m_extends[2]);
+				smprop->m_inertia *= smprop->m_mass/MT_Vector3(objprop->m_boundobject.box.m_extends).length();
 				break;
 			case KX_BOUNDCYLINDER:
-				shape = DT_NewCylinder(objprop->m_radius, objprop->m_boundobject.c.m_height);
+				shape = DT_NewCylinder(smprop->m_radius, objprop->m_boundobject.c.m_height);
+				smprop->m_inertia.scale(smprop->m_mass*smprop->m_radius*smprop->m_radius,
+					smprop->m_mass*smprop->m_radius*smprop->m_radius,
+					smprop->m_mass*objprop->m_boundobject.c.m_height*objprop->m_boundobject.c.m_height);
 				break;
 			case KX_BOUNDCONE:
 				shape = DT_NewCone(objprop->m_radius, objprop->m_boundobject.c.m_height);
+				smprop->m_inertia.scale(smprop->m_mass*smprop->m_radius*smprop->m_radius,
+					smprop->m_mass*smprop->m_radius*smprop->m_radius,
+					smprop->m_mass*objprop->m_boundobject.c.m_height*objprop->m_boundobject.c.m_height);
 				break;
-/* Enabling this allows you to use dynamic mesh objects.  It's disabled 'cause it's really slow. */
+			/* Dynamic mesh objects.  WARNING! slow. */
 			case KX_BOUNDMESH:
 				if (meshobj && meshobj->NumPolygons() > 0)
 				{
 					if ((shape = CreateShapeFromMesh(meshobj)))
+					{
+						// TODO: calculate proper inertia
+						smprop->m_inertia *= smprop->m_mass*smprop->m_radius*smprop->m_radius;
 						break;
+					}
 				}
 				/* If CreateShapeFromMesh fails, fall through and use sphere */
 			default:
 			case KX_BOUNDSPHERE:
 				shape = DT_NewSphere(objprop->m_radius);
+				smprop->m_inertia *= smprop->m_mass*smprop->m_radius*smprop->m_radius;
 				break;
 				
 		}
diff --git a/source/gameengine/Physics/Sumo/Fuzzics/include/SM_MotionState.h b/source/gameengine/Physics/Sumo/Fuzzics/include/SM_MotionState.h
index 92cecbdebaa..e7fbf3cdacc 100644
--- a/source/gameengine/Physics/Sumo/Fuzzics/include/SM_MotionState.h
+++ b/source/gameengine/Physics/Sumo/Fuzzics/include/SM_MotionState.h
@@ -14,14 +14,14 @@ public:
 
 	void setPosition(const MT_Point3& pos)             { m_pos = pos; }
 	void setOrientation(const MT_Quaternion& orn)      { m_orn = orn; }
-    void setLinearVelocity(const MT_Vector3& lin_vel)  { m_lin_vel = lin_vel; }
+	void setLinearVelocity(const MT_Vector3& lin_vel)  { m_lin_vel = lin_vel; }
 	void setAngularVelocity(const MT_Vector3& ang_vel) { m_ang_vel = ang_vel; }
-
+	
 	const MT_Point3&     getPosition()        const { return m_pos; }
 	const MT_Quaternion& getOrientation()     const { return m_orn; }
-    const MT_Vector3&    getLinearVelocity()  const { return m_lin_vel; }
-    const MT_Vector3&    getAngularVelocity() const { return m_ang_vel;	}
-
+	const MT_Vector3&    getLinearVelocity()  const { return m_lin_vel; }
+	const MT_Vector3&    getAngularVelocity() const { return m_ang_vel;	}
+	
 	virtual MT_Transform getTransform() const {
 		return MT_Transform(m_pos, m_orn);
 	}
diff --git a/source/gameengine/Physics/Sumo/Fuzzics/src/SM_Object.cpp b/source/gameengine/Physics/Sumo/Fuzzics/src/SM_Object.cpp
index d0d52934768..f6b0f50219e 100644
--- a/source/gameengine/Physics/Sumo/Fuzzics/src/SM_Object.cpp
+++ b/source/gameengine/Physics/Sumo/Fuzzics/src/SM_Object.cpp
@@ -51,7 +51,7 @@
 
 
 // Tweak parameters
-static const MT_Scalar ImpulseThreshold = 0.5;
+static const MT_Scalar ImpulseThreshold = -10.;
 static const MT_Scalar FixThreshold = 0.01;
 static const MT_Scalar FixVelocity = 0.01;
 SM_Object::SM_Object(
@@ -177,27 +177,22 @@ void SM_Object::dynamicCollision(const MT_Point3 &local2,
 	MT_Scalar invMass
 )
 {
-	// Same again but now obj1 is non-dynamic
-	// Compute the point on obj1 closest to obj2 (= sphere with radius = 0)
-	// local1 is th point closest to obj2
-	// local2 is the local origin of obj2 
-
 	// This should look familiar....
 	MT_Scalar  rel_vel_normal = normal.dot(rel_vel);
 			
-	if (rel_vel_normal <= 0.0) {
-		if (-rel_vel_normal < ImpulseThreshold) {
-			restitution = 0.0;
-		}
+	if (rel_vel_normal < -MT_EPSILON) {
+		restitution *= MT_min(MT_Scalar(1.0), rel_vel_normal/ImpulseThreshold);
 				
 		MT_Scalar impulse = -(1.0 + restitution) * rel_vel_normal;
 		
 		if (isRigidBody())
 		{
-			MT_Vector3 temp = getInvInertiaTensor() * local2.cross(normal);  
-			applyImpulse(local2 + m_pos, (impulse / (invMass + normal.dot(temp.cross(local2)))) * normal);
+			MT_Vector3 temp = getInvInertiaTensor() * local2.cross(normal);
+			impulse /= invMass + normal.dot(temp.cross(local2));
+			applyImpulse(local2 + m_pos, impulse * normal);
 		} else {
-			applyCenterImpulse( ( impulse / invMass ) * normal ); 
+			impulse /= invMass;
+			applyCenterImpulse( impulse * normal ); 
 		}
 	   	
 		// The friction part starts here!!!!!!!!
@@ -361,15 +356,8 @@ DT_Bool SM_Object::boing(
 	local1 -= obj1->m_pos, local2 -= obj2->m_pos;
 	
 	// Calculate collision parameters
-	MT_Vector3 rel_vel        = obj1->getVelocity(local1) + obj1->m_combined_lin_vel - 
-					obj2->getVelocity(local2) - obj2->m_combined_lin_vel;
+	MT_Vector3 rel_vel        = obj1->getVelocity(local1) - obj2->getVelocity(local2);
 	
-	if (obj1->isRigidBody())
-		rel_vel += obj1->actualAngVelocity().cross(local1);
-
-	if (obj2->isRigidBody())
-		rel_vel -= obj2->actualAngVelocity().cross(local2);
-					
 	MT_Scalar restitution = 
 		MT_min(obj1->getMaterialProps()->m_restitution,
 				obj2->getMaterialProps()->m_restitution);
@@ -1013,9 +1001,9 @@ getVelocity(
 */
 	return m_prev_kinematic && !isDynamic() ? 
 		(m_xform(local) - m_prev_xform(local)) / m_timeStep :
-		m_lin_vel +	m_ang_vel.cross(local);
+		actualLinVelocity() +	actualAngVelocity().cross(local);
 
-	//	m_lin_vel +	m_ang_vel.cross(m_xform.getBasis() * local);
+		//m_lin_vel +	m_ang_vel.cross(m_xform.getBasis() * local);
 	// NB: m_xform.getBasis() * local == m_xform(local) - m_xform.getOrigin()
 
 }