BGE bug #17408 fixed: Radar sensor is oriented the wrong way when the set along negative axis. Improve reliability of Radar detection by clearing the manifold cache instead of updating it.

2 files changed, 16 insertions, 16 deletions

diff --git a/source/gameengine/Ketsji/KX_RadarSensor.cpp b/source/gameengine/Ketsji/KX_RadarSensor.cpp
index de4979ac4c9..d371626b597 100644
--- a/source/gameengine/Ketsji/KX_RadarSensor.cpp
+++ b/source/gameengine/Ketsji/KX_RadarSensor.cpp
@@ -147,23 +147,23 @@ void KX_RadarSensor::SynchronizeTransform()
 		};
 	case 3: // -X Axis
 		{
-			MT_Quaternion rotquatje(MT_Vector3(0,0,1),MT_radians(90));
+			MT_Quaternion rotquatje(MT_Vector3(0,0,1),MT_radians(-90));
 			trans.rotate(rotquatje);
-			trans.translate(MT_Vector3 (0, m_coneheight/2.0 ,0));
+			trans.translate(MT_Vector3 (0, -m_coneheight/2.0 ,0));
 			break;
 		};
 	case 4: // -Y Axis
 		{
-			MT_Quaternion rotquatje(MT_Vector3(1,0,0),MT_radians(-180));
-			trans.rotate(rotquatje);
-			trans.translate(MT_Vector3 (0, m_coneheight/2.0 ,0));
+			//MT_Quaternion rotquatje(MT_Vector3(1,0,0),MT_radians(-180));
+			//trans.rotate(rotquatje);
+			trans.translate(MT_Vector3 (0, -m_coneheight/2.0 ,0));
 			break;
 		};
 	case 5: // -Z Axis
 		{
-			MT_Quaternion rotquatje(MT_Vector3(1,0,0),MT_radians(-90));
+			MT_Quaternion rotquatje(MT_Vector3(1,0,0),MT_radians(90));
 			trans.rotate(rotquatje);
-			trans.translate(MT_Vector3 (0, m_coneheight/2.0 ,0));
+			trans.translate(MT_Vector3 (0, -m_coneheight/2.0 ,0));
 			break;
 		};
 	default:
diff --git a/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.cpp b/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.cpp
index 0a37a461c59..dfbcf115fd7 100644
--- a/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.cpp
+++ b/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.cpp
@@ -966,15 +966,6 @@ void	CcdPhysicsEnvironment::CallbackTriggers()
 			{
 				btRigidBody* rb0 = static_cast<btRigidBody*>(manifold->getBody0());
 				btRigidBody* rb1 = static_cast<btRigidBody*>(manifold->getBody1());
-				// Bullet does not refresh the manifold contact point for object without contact response
-				// may need to remove this when a newer Bullet version is integrated
-				if (!dispatcher->needsResponse(rb0, rb1))
-				{
-					manifold->refreshContactPoints(rb0->getCenterOfMassTransform(),rb1->getCenterOfMassTransform());
-					numContacts = manifold->getNumContacts();
-					if (!numContacts)
-						continue;
-				}
 				if (m_debugDrawer && (m_debugDrawer->getDebugMode() & btIDebugDraw::DBG_DrawContactPoints))
 				{
 					for (int j=0;j<numContacts;j++)
@@ -1003,6 +994,15 @@ void	CcdPhysicsEnvironment::CallbackTriggers()
 					m_triggerCallbacks[PHY_OBJECT_RESPONSE](m_triggerCallbacksUserPtrs[PHY_OBJECT_RESPONSE],
 						ctrl0,ctrl1,0);
 				}
+				// Bullet does not refresh the manifold contact point for object without contact response
+				// may need to remove this when a newer Bullet version is integrated
+				if (!dispatcher->needsResponse(rb0, rb1))
+				{
+					// Refresh algorithm fails sometimes when there is penetration 
+					// (usuall the case with ghost and sensor objects)
+					// Let's just clear the manifold, in any case, it is recomputed on each frame.
+					manifold->clearManifold(); //refreshContactPoints(rb0->getCenterOfMassTransform(),rb1->getCenterOfMassTransform());
+				}
 			}
 		}