added python binding for debugdraw,

tweaked friction, some more preparations but no real functionality added yet

7 files changed, 52 insertions, 26 deletions

diff --git a/extern/bullet/Bullet/Bullet3_vc7.vcproj b/extern/bullet/Bullet/Bullet3_vc7.vcproj
index fcfc0ffb2ff..dab745810a0 100644
--- a/extern/bullet/Bullet/Bullet3_vc7.vcproj
+++ b/extern/bullet/Bullet/Bullet3_vc7.vcproj
@@ -391,9 +391,6 @@ ECHO Done
 				RelativePath="..\LinearMath\GEN_random.h">
 			</File>
 			<File
-				RelativePath="..\LinearMath\IDebugDraw.h">
-			</File>
-			<File
 				RelativePath="..\LinearMath\SimdMatrix3x3.h">
 			</File>
 			<File
diff --git a/extern/bullet/Bullet/Bullet3_vc8.vcproj b/extern/bullet/Bullet/Bullet3_vc8.vcproj
index 125b4b6e0b1..b9046f451e5 100644
--- a/extern/bullet/Bullet/Bullet3_vc8.vcproj
+++ b/extern/bullet/Bullet/Bullet3_vc8.vcproj
@@ -509,6 +509,10 @@
 				>
 			</File>
 			<File
+				RelativePath="..\LinearMath\IDebugDraw.h"
+				>
+			</File>
+			<File
 				RelativePath="..\LinearMath\SimdMatrix3x3.h"
 				>
 			</File>
diff --git a/extern/bullet/BulletDynamics/Dynamics/ContactJoint.cpp b/extern/bullet/BulletDynamics/Dynamics/ContactJoint.cpp
index b0f26a343d5..bc89bd34c38 100644
--- a/extern/bullet/BulletDynamics/Dynamics/ContactJoint.cpp
+++ b/extern/bullet/BulletDynamics/Dynamics/ContactJoint.cpp
@@ -3,6 +3,9 @@
 #include "NarrowPhaseCollision/PersistentManifold.h"
 
 
+//this constant needs to be set up so different solvers give 'similar' results
+#define FRICTION_CONSTANT 120.f
+
 
 ContactJoint::ContactJoint(PersistentManifold* manifold,int index,bool swap,RigidBody* body0,RigidBody* body1)
 :m_manifold(manifold),
@@ -15,9 +18,6 @@ m_body1(body1)
 
 int m_numRows = 3;
 
-//float gContactFrictionFactor  = 0.f;//12.f;//30.5f;//100.f;//1e30f;//2.9f;
-
-
 
 void ContactJoint::GetInfo1(Info1 *info)
 {
@@ -150,7 +150,8 @@ void ContactJoint::GetInfo2(Info2 *info)
 	c2[1] = ccc2[1];
 	c2[2] = ccc2[2];
 	
-	float friction = 20.f*m_body0->getFriction() * m_body1->getFriction();
+	
+	float friction = FRICTION_CONSTANT*m_body0->getFriction() * m_body1->getFriction();
 	
 	// first friction direction
 	if (m_numRows >= 2) 
diff --git a/extern/bullet/LinearMath/SimdQuadWord.h b/extern/bullet/LinearMath/SimdQuadWord.h
index f256a215559..818b2e6007d 100644
--- a/extern/bullet/LinearMath/SimdQuadWord.h
+++ b/extern/bullet/LinearMath/SimdQuadWord.h
@@ -91,15 +91,15 @@ class	SimdQuadWord
 			m_unusedW=w;
 		}
 
-		SIMD_FORCE_INLINE SimdQuadWord() 
-		:m_x(0.f),m_y(0.f),m_z(0.f),m_unusedW(0.f)
+		SIMD_FORCE_INLINE SimdQuadWord() :
+		m_x(0.f),m_y(0.f),m_z(0.f),m_unusedW(0.f)
 		{
 		}
 
 		SIMD_FORCE_INLINE SimdQuadWord(const SimdScalar& x, const SimdScalar& y, const SimdScalar& z) 
 		:m_x(x),m_y(y),m_z(z)
 		//todo, remove this in release/simd ?
-		,m_unusedW(0.f)
+		,m_unusedW(1e30f)
 		{
 		}
 
diff --git a/source/gameengine/Converter/KX_BlenderSceneConverter.cpp b/source/gameengine/Converter/KX_BlenderSceneConverter.cpp
index 8171baf689d..2b70f25eaf9 100644
--- a/source/gameengine/Converter/KX_BlenderSceneConverter.cpp
+++ b/source/gameengine/Converter/KX_BlenderSceneConverter.cpp
@@ -173,6 +173,7 @@ static struct Scene *GetSceneForName2(struct Main *maggie, const STR_String& sce
 #include "KX_PythonInit.h"
 
 #ifdef USE_BULLET
+
 #include "IDebugDraw.h"
 
 
@@ -187,7 +188,7 @@ struct	BlenderDebugDraw : public IDebugDraw
 
 	virtual void	DrawLine(const SimdVector3& from,const SimdVector3& to,const SimdVector3& color)
 	{
-		if (m_debugMode == 1)
+		if (m_debugMode >0)
 		{
 			MT_Vector3 kxfrom(from[0],from[1],from[2]);
 			MT_Vector3 kxto(to[0],to[1],to[2]);
@@ -260,9 +261,9 @@ void KX_BlenderSceneConverter::ConvertScene(const STR_String& scenename,
 			{
 				CcdPhysicsEnvironment* ccdPhysEnv = new CcdPhysicsEnvironment();
 				ccdPhysEnv->setDebugDrawer(new BlenderDebugDraw());
-			
-			//disable / enable debug drawing (contact points, aabb's etc)	
-		//		ccdPhysEnv->setDebugMode(1);
+				//todo: get a button in blender ?
+				//disable / enable debug drawing (contact points, aabb's etc)	
+				//ccdPhysEnv->setDebugMode(1);
 				destinationscene->SetPhysicsEnvironment(ccdPhysEnv);
 				break;
 			}
diff --git a/source/gameengine/Ketsji/KX_ConvertPhysicsObjects.cpp b/source/gameengine/Ketsji/KX_ConvertPhysicsObjects.cpp
index 338e9448e94..d767b480756 100644
--- a/source/gameengine/Ketsji/KX_ConvertPhysicsObjects.cpp
+++ b/source/gameengine/Ketsji/KX_ConvertPhysicsObjects.cpp
@@ -133,7 +133,7 @@ void	KX_ConvertSumoObject(	KX_GameObject* gameobj,
 	smmaterial->m_fh_normal = kxmaterial->m_fh_normal;
 	smmaterial->m_fh_spring = kxmaterial->m_fh_spring;
 	smmaterial->m_friction = kxmaterial->m_friction;
-	smmaterial->m_restitution = 0.f;//kxmaterial->m_restitution;
+	smmaterial->m_restitution = kxmaterial->m_restitution;
 
 	SumoPhysicsEnvironment* sumoEnv =
 		(SumoPhysicsEnvironment*)kxscene->GetPhysicsEnvironment();
@@ -854,7 +854,6 @@ static CollisionShape* CreateBulletShapeFromMesh(RAS_MeshObject* meshobj, bool p
 
 
 
-
 void	KX_ConvertBulletObject(	class	KX_GameObject* gameobj,
 	class	RAS_MeshObject* meshobj,
 	class	KX_Scene* kxscene,
@@ -864,10 +863,7 @@ void	KX_ConvertBulletObject(	class	KX_GameObject* gameobj,
 {
 
 		CcdPhysicsEnvironment* env = (CcdPhysicsEnvironment*)kxscene->GetPhysicsEnvironment();
-		
 	assert(env);
-
-
 	
 
 	bool dyna = false;
@@ -912,8 +908,12 @@ void	KX_ConvertBulletObject(	class	KX_GameObject* gameobj,
 
 			halfExtents /= 2.f;
 
-			//todo: do this conversion internally !
+			//SimdVector3 he (halfExtents[0]-CONVEX_DISTANCE_MARGIN ,halfExtents[1]-CONVEX_DISTANCE_MARGIN ,halfExtents[2]-CONVEX_DISTANCE_MARGIN );
+			//he = he.absolute();
+
 			SimdVector3 he (halfExtents[0],halfExtents[1],halfExtents[2]);
+			he = he.absolute();
+
 
 			bm = new BoxShape(he);
 			bm->CalculateLocalInertia(ci.m_mass,ci.m_localInertiaTensor);
@@ -929,7 +929,6 @@ void	KX_ConvertBulletObject(	class	KX_GameObject* gameobj,
 			);
 			bm = new CylinderShapeZ(halfExtents);
 			bm->CalculateLocalInertia(ci.m_mass,ci.m_localInertiaTensor);
-			bm->SetMargin(0.05f);
 
 			break;
 		}
@@ -948,7 +947,6 @@ void	KX_ConvertBulletObject(	class	KX_GameObject* gameobj,
 				bm = new ConeShape(objprop->m_boundobject.c.m_radius,objprop->m_boundobject.c.m_height);
 				bm->CalculateLocalInertia(ci.m_mass,ci.m_localInertiaTensor);
 
-				bm->SetMargin(0.05f);
 
 
 			break;
@@ -959,7 +957,6 @@ void	KX_ConvertBulletObject(	class	KX_GameObject* gameobj,
 				if (bm)
 				{
 					bm->CalculateLocalInertia(ci.m_mass,ci.m_localInertiaTensor);
-					bm->SetMargin(0.05f);
 				}
 				break;
 			}
@@ -1007,8 +1004,8 @@ void	KX_ConvertBulletObject(	class	KX_GameObject* gameobj,
 	ci.m_restitution = smmaterial->m_restitution;
 
 
-	ci.m_linearDamping = 0.5;//shapeprops->m_lin_drag;
-	ci.m_angularDamping = 0.5f;//shapeprops->m_ang_drag;
+	ci.m_linearDamping = shapeprops->m_lin_drag;
+	ci.m_angularDamping = shapeprops->m_ang_drag;
 
 	KX_BulletPhysicsController* physicscontroller = new KX_BulletPhysicsController(ci,dyna);
 	env->addCcdPhysicsController( physicscontroller);
diff --git a/source/gameengine/Ketsji/KX_PyConstraintBinding.cpp b/source/gameengine/Ketsji/KX_PyConstraintBinding.cpp
index 0111fd36cb2..1f732098718 100644
--- a/source/gameengine/Ketsji/KX_PyConstraintBinding.cpp
+++ b/source/gameengine/Ketsji/KX_PyConstraintBinding.cpp
@@ -48,9 +48,11 @@ static char PhysicsConstraints_module_documentation[] =
 
 
 static char gPySetGravity__doc__[] = "setGravity(float x,float y,float z)";
+static char gPySetDebugMode__doc__[] = "setDebugMode(int mode)";
 static char gPyCreateConstraint__doc__[] = "createConstraint(ob1,ob2,float restLength,float restitution,float damping)";
 static char gPyRemoveConstraint__doc__[] = "removeConstraint(constraint id)";
 
+
 static PyObject* gPySetGravity(PyObject* self,
 										 PyObject* args, 
 										 PyObject* kwds)
@@ -65,6 +67,26 @@ static PyObject* gPySetGravity(PyObject* self,
 	Py_INCREF(Py_None); return Py_None;
 }
 
+static PyObject* gPySetDebugMode(PyObject* self,
+										 PyObject* args, 
+										 PyObject* kwds)
+{
+	int mode;
+	if (PyArg_ParseTuple(args,"i",&mode))
+	{
+		if (PHY_GetActiveEnvironment())
+		{
+			PHY_GetActiveEnvironment()->setDebugMode(mode);
+			
+		}
+		
+	}
+	printf("hi\n");
+
+	Py_INCREF(Py_None); return Py_None;
+}
+
+
 
 
 
@@ -142,7 +164,10 @@ static PyObject* gPyRemoveConstraint(PyObject* self,
 static struct PyMethodDef physicsconstraints_methods[] = {
   {"setGravity",(PyCFunction) gPySetGravity,
    METH_VARARGS, gPySetGravity__doc__},
-   
+  {"setDebugMode",(PyCFunction) gPySetDebugMode,
+   METH_VARARGS, gPySetDebugMode__doc__},
+
+
   {"createConstraint",(PyCFunction) gPyCreateConstraint,
    METH_VARARGS, gPyCreateConstraint__doc__},
   {"removeConstraint",(PyCFunction) gPyRemoveConstraint,
@@ -161,6 +186,7 @@ PyObject*	initPythonConstraintBinding()
   PyObject* m;
   PyObject* d;
 
+
   m = Py_InitModule4("PhysicsConstraints", physicsconstraints_methods,
 		     PhysicsConstraints_module_documentation,
 		     (PyObject*)NULL,PYTHON_API_VERSION);