diff options
author | Erwin Coumans <blender@erwincoumans.com> | 2006-12-04 07:13:42 +0300 |
---|---|---|
committer | Erwin Coumans <blender@erwincoumans.com> | 2006-12-04 07:13:42 +0300 |
commit | 2ec5d00da91848ce8c56d383a23a35b76243b956 (patch) | |
tree | 293000afd2bfeb82b9633aa285407dcbb58f6fd7 | |
parent | fc691cdb5e0c23bf36e68a14903d6bc4d0cc5242 (diff) |
fixed some motionstate synchronization issues
nearsensor was not synchronized at the start
wheels not synchronized properly (one frame delay)
6 files changed, 15 insertions, 8 deletions
diff --git a/source/gameengine/Ketsji/KX_MotionState.cpp b/source/gameengine/Ketsji/KX_MotionState.cpp index 14849ef704c..cd01c0466cd 100644 --- a/source/gameengine/Ketsji/KX_MotionState.cpp +++ b/source/gameengine/Ketsji/KX_MotionState.cpp @@ -73,7 +73,7 @@ void KX_MotionState::getWorldOrientation(float& quatIma0,float& quatIma1,float& void KX_MotionState::setWorldPosition(float posX,float posY,float posZ) { m_node->SetLocalPosition(MT_Point3(posX,posY,posZ)); - //m_node->SetWorldPosition(MT_Point3(posX,posY,posZ)); + m_node->SetWorldPosition(MT_Point3(posX,posY,posZ)); } void KX_MotionState::setWorldOrientation(float quatIma0,float quatIma1,float quatIma2,float quatReal) @@ -85,7 +85,7 @@ void KX_MotionState::setWorldOrientation(float quatIma0,float quatIma1,float qua orn[3] = quatReal; m_node->SetLocalOrientation(orn); - //m_node->SetWorldOrientation(orn); + m_node->SetWorldOrientation(orn); } diff --git a/source/gameengine/Ketsji/KX_NearSensor.cpp b/source/gameengine/Ketsji/KX_NearSensor.cpp index fac2302b85e..34561045cab 100644 --- a/source/gameengine/Ketsji/KX_NearSensor.cpp +++ b/source/gameengine/Ketsji/KX_NearSensor.cpp @@ -116,6 +116,7 @@ CValue* KX_NearSensor::GetReplica() //replica->m_sumoObj->setMargin(m_Margin); //replica->m_sumoObj->setClientObject(replica->m_client_info); + ((KX_GameObject*)replica->GetParent())->GetSGNode()->ComputeWorldTransforms(NULL); replica->SynchronizeTransform(); return replica; @@ -139,7 +140,7 @@ void KX_NearSensor::ReParent(SCA_IObject* parent) client_info->m_sensors.push_back(this); SCA_ISensor::ReParent(parent); */ - + ((KX_GameObject*)GetParent())->GetSGNode()->ComputeWorldTransforms(NULL); SynchronizeTransform(); } diff --git a/source/gameengine/Ketsji/KX_RadarSensor.cpp b/source/gameengine/Ketsji/KX_RadarSensor.cpp index eae9784935c..5d56eaabb5a 100644 --- a/source/gameengine/Ketsji/KX_RadarSensor.cpp +++ b/source/gameengine/Ketsji/KX_RadarSensor.cpp @@ -103,6 +103,7 @@ CValue* KX_RadarSensor::GetReplica() //replica->m_sumoObj->setMargin(m_Margin); //replica->m_sumoObj->setClientObject(replica->m_client_info); + ((KX_GameObject*)replica->GetParent())->GetSGNode()->ComputeWorldTransforms(NULL); replica->SynchronizeTransform(); return replica; diff --git a/source/gameengine/Ketsji/KX_TouchSensor.cpp b/source/gameengine/Ketsji/KX_TouchSensor.cpp index 3cd5097ebb7..5b013e75e4e 100644 --- a/source/gameengine/Ketsji/KX_TouchSensor.cpp +++ b/source/gameengine/Ketsji/KX_TouchSensor.cpp @@ -54,8 +54,10 @@ void KX_TouchSensor::SynchronizeTransform() if (m_physCtrl) { - MT_Vector3 pos = ((KX_GameObject*)GetParent())->NodeGetWorldPosition(); - MT_Quaternion orn = ((KX_GameObject*)GetParent())->NodeGetWorldOrientation().getRotation(); + + KX_GameObject* parent = ((KX_GameObject*)GetParent()); + MT_Vector3 pos = parent->NodeGetWorldPosition(); + MT_Quaternion orn = parent->NodeGetWorldOrientation().getRotation(); m_physCtrl->setPosition(pos.x(),pos.y(),pos.z()); m_physCtrl->setOrientation(orn.x(),orn.y(),orn.z(),orn.w()); m_physCtrl->calcXform(); diff --git a/source/gameengine/Physics/Bullet/CcdPhysicsController.cpp b/source/gameengine/Physics/Bullet/CcdPhysicsController.cpp index f6a087887f9..3ddac72618d 100644 --- a/source/gameengine/Physics/Bullet/CcdPhysicsController.cpp +++ b/source/gameengine/Physics/Bullet/CcdPhysicsController.cpp @@ -99,7 +99,7 @@ public: m_blenderMotionState->setWorldPosition(worldTrans.getOrigin().getX(),worldTrans.getOrigin().getY(),worldTrans.getOrigin().getZ()); btQuaternion rotQuat = worldTrans.getRotation(); m_blenderMotionState->setWorldOrientation(rotQuat[0],rotQuat[1],rotQuat[2],rotQuat[3]); - + m_blenderMotionState->calculateWorldTransformations(); } }; diff --git a/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.cpp b/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.cpp index 418271a5c46..edd4c2e2bb4 100644 --- a/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.cpp +++ b/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.cpp @@ -108,7 +108,8 @@ public: { btWheelInfo& info = m_vehicle->getWheelInfo(i); PHY_IMotionState* motionState = (PHY_IMotionState*)info.m_clientInfo ; - m_vehicle->updateWheelTransform(i,true); + // m_vehicle->updateWheelTransformsWS(info,false); + m_vehicle->updateWheelTransform(i,false); btTransform trans = m_vehicle->getWheelInfo(i).m_worldTransform; btQuaternion orn = trans.getRotation(); const btVector3& pos = trans.getOrigin(); @@ -463,7 +464,7 @@ bool CcdPhysicsEnvironment::proceedDeltaTime(double curTime,float timeStep) for (i=0;i<numCtrl;i++) { CcdPhysicsController* ctrl = GetPhysicsController(i); - //ctrl->SynchronizeMotionStates(timeStep); + ctrl->SynchronizeMotionStates(timeStep); } for (i=0;i<m_wrapperVehicles.size();i++) @@ -829,6 +830,8 @@ void CcdPhysicsEnvironment::addSensor(PHY_IPhysicsController* ctrl) } //force collision detection with everything, including static objects (might hurt performance!) ctrl1->GetRigidBody()->getBroadphaseHandle()->m_collisionFilterMask = btBroadphaseProxy::AllFilter; + ctrl1->GetRigidBody()->getBroadphaseHandle()->m_collisionFilterGroup = btBroadphaseProxy::AllFilter; + //todo: make this 'sensor'! requestCollisionCallback(ctrl); //printf("addSensor\n"); |