Brought back the sumo physics controllers and undid game engine make file

changes.
Instead modified the top level nan_definitions.mk to point the NAN_SUMO and
NAN_FUZZICS to the right locations.
Maarten

4 files changed, 290 insertions, 3 deletions

diff --git a/source/gameengine/Ketsji/KX_SumoPhysicsController.cpp b/source/gameengine/Ketsji/KX_SumoPhysicsController.cpp
new file mode 100644
index 00000000000..aa49f33bfb2
--- /dev/null
+++ b/source/gameengine/Ketsji/KX_SumoPhysicsController.cpp
@@ -0,0 +1,204 @@
+#pragma warning (disable : 4786)
+
+#include "KX_SumoPhysicsController.h"
+#include "SG_Spatial.h"
+#include "SM_Scene.h"
+#include "KX_GameObject.h"
+#include "KX_MotionState.h"
+
+
+
+void	KX_SumoPhysicsController::applyImpulse(const MT_Point3& attach, const MT_Vector3& impulse)
+{
+	SumoPhysicsController::applyImpulse(attach[0],attach[1],attach[2],impulse[0],impulse[1],impulse[2]);
+}
+void	KX_SumoPhysicsController::RelativeTranslate(const MT_Vector3& dloc,bool local)
+{
+	SumoPhysicsController::RelativeTranslate(dloc[0],dloc[1],dloc[2],local);
+
+}
+void	KX_SumoPhysicsController::RelativeRotate(const MT_Matrix3x3& drot,bool local)
+{
+	double oldmat[12];
+	drot.getValue(oldmat);
+	float newmat[9];
+	float *m = &newmat[0];
+	double *orgm = &oldmat[0];
+
+	 *m++ = *orgm++;*m++ = *orgm++;*m++ = *orgm++;orgm++;
+	 *m++ = *orgm++;*m++ = *orgm++;*m++ = *orgm++;orgm++;
+	 *m++ = *orgm++;*m++ = *orgm++;*m++ = *orgm++;orgm++;
+
+	SumoPhysicsController::RelativeRotate(newmat,local);
+}
+
+void	KX_SumoPhysicsController::SetLinearVelocity(const MT_Vector3& lin_vel,bool local)
+{
+	SumoPhysicsController::SetLinearVelocity(lin_vel[0],lin_vel[1],lin_vel[2],local);
+
+}
+
+void	KX_SumoPhysicsController::SetAngularVelocity(const MT_Vector3& ang_vel,bool local)
+{
+	SumoPhysicsController::SetAngularVelocity(ang_vel[0],ang_vel[1],ang_vel[2],local);
+}
+
+MT_Vector3 KX_SumoPhysicsController::GetVelocity(const MT_Point3& pos)
+{
+
+	float linvel[3];
+	SumoPhysicsController::GetVelocity(pos[0],pos[1],pos[2],linvel[0],linvel[1],linvel[2]);
+
+	return MT_Vector3 (linvel);
+}
+
+MT_Vector3 KX_SumoPhysicsController::GetLinearVelocity()
+{
+	return GetVelocity(MT_Point3(0,0,0));
+	
+}
+void	KX_SumoPhysicsController::ApplyTorque(const MT_Vector3& torque,bool local)
+{
+	SumoPhysicsController::ApplyTorque(torque[0],torque[1],torque[2],local);
+
+}
+
+void	KX_SumoPhysicsController::ApplyForce(const MT_Vector3& force,bool local)
+{
+	SumoPhysicsController::ApplyForce(force[0],force[1],force[2],local);
+}
+
+bool KX_SumoPhysicsController::Update(double time)
+{
+	return SynchronizeMotionStates(time);
+
+}
+
+void	KX_SumoPhysicsController::SetSimulatedTime(double time)
+{
+	
+}
+
+void	KX_SumoPhysicsController::SetSumoTransform(bool nondynaonly)
+{
+	SumoPhysicsController::setSumoTransform(nondynaonly);
+
+}
+
+void	KX_SumoPhysicsController::SuspendDynamics()
+{
+	SumoPhysicsController::SuspendDynamics();
+}
+
+void	KX_SumoPhysicsController::RestoreDynamics()
+{
+	SumoPhysicsController::RestoreDynamics();
+}
+
+SG_Controller*	KX_SumoPhysicsController::GetReplica(SG_Node* destnode)
+{
+
+	PHY_IMotionState* motionstate = new KX_MotionState(destnode);
+
+	KX_SumoPhysicsController* physicsreplica = new KX_SumoPhysicsController(*this);
+
+	//parentcontroller is here be able to avoid collisions between parent/child
+
+	PHY_IPhysicsController* parentctrl = NULL;
+
+	if (destnode != destnode->GetRootSGParent())
+	{
+		KX_GameObject* clientgameobj = (KX_GameObject*) destnode->GetRootSGParent()->GetSGClientObject();
+		if (clientgameobj)
+		{
+			parentctrl = (KX_SumoPhysicsController*)clientgameobj->GetPhysicsController();
+		} else
+		{
+			// it could be a false node, try the children
+			NodeList::const_iterator childit;
+			for (
+				childit = destnode->GetSGChildren().begin();
+			childit!= destnode->GetSGChildren().end();
+			++childit
+				) {
+				KX_GameObject* clientgameobj = static_cast<KX_GameObject*>( (*childit)->GetSGClientObject());
+				if (clientgameobj)
+				{
+					parentctrl = (KX_SumoPhysicsController*)clientgameobj->GetPhysicsController();
+				}
+			}
+		}
+	}
+
+	physicsreplica->PostProcessReplica(motionstate,parentctrl);
+
+	return physicsreplica;
+}
+
+
+void	KX_SumoPhysicsController::SetObject (SG_IObject* object)
+{
+	SG_Controller::SetObject(object);
+
+	// cheating here...
+	KX_GameObject* gameobj = (KX_GameObject*)	object->GetSGClientObject();
+	gameobj->SetPhysicsController(this);
+
+
+}
+
+
+void KX_SumoPhysicsController::setOrientation(const MT_Quaternion& orn)
+{
+	SumoPhysicsController::setOrientation(
+		orn[0],orn[1],orn[2],orn[3]);
+
+}
+void KX_SumoPhysicsController::getOrientation(MT_Quaternion& orn)
+{
+
+	float quat[4];
+
+	SumoPhysicsController::getOrientation(quat[0],quat[1],quat[2],quat[3]);
+
+	orn = MT_Quaternion(quat);
+
+}
+
+void KX_SumoPhysicsController::setPosition(const MT_Point3& pos)
+{
+	SumoPhysicsController::setPosition(pos[0],pos[1],pos[2]);
+	
+}
+	
+void KX_SumoPhysicsController::setScaling(const MT_Vector3& scaling)
+{
+	SumoPhysicsController::setScaling(scaling[0],scaling[1],scaling[2]);
+	
+}
+
+MT_Scalar	KX_SumoPhysicsController::GetMass()
+{
+	return SumoPhysicsController::getMass();
+}
+
+MT_Vector3	KX_SumoPhysicsController::getReactionForce()
+{
+	float force[3];
+	SumoPhysicsController::getReactionForce(force[0],force[1],force[2]);
+	return MT_Vector3(force);
+
+}
+
+void	KX_SumoPhysicsController::setRigidBody(bool rigid)
+{
+	SumoPhysicsController::setRigidBody(rigid);
+	
+}
+
+
+KX_SumoPhysicsController::~KX_SumoPhysicsController()
+{
+
+	
+}
diff --git a/source/gameengine/Ketsji/KX_SumoPhysicsController.h b/source/gameengine/Ketsji/KX_SumoPhysicsController.h
new file mode 100644
index 00000000000..523e139fc69
--- /dev/null
+++ b/source/gameengine/Ketsji/KX_SumoPhysicsController.h
@@ -0,0 +1,83 @@
+#ifndef __KX_SUMOPHYSICSCONTROLLER_H
+#define __KX_SUMOPHYSICSCONTROLLER_H
+
+#include "PHY_IPhysicsController.h"
+#include "SM_Object.h" // for SM_Callback
+
+/**
+	Physics Controller, a special kind of Scene Graph Transformation Controller.
+	It get's callbacks from Sumo in case a transformation change took place.
+	Each time the scene graph get's updated, the controller get's a chance
+	in the 'Update' method to reflect changed.
+*/
+
+#include "SumoPhysicsController.h"
+#include "KX_IPhysicsController.h"
+
+class KX_SumoPhysicsController : public KX_IPhysicsController,	
+									public SumoPhysicsController
+
+{
+
+
+public:
+	KX_SumoPhysicsController(
+		class SM_Scene* sumoScene,
+		DT_SceneHandle solidscene,
+		class SM_Object* sumoObj,	
+		class PHY_IMotionState* motionstate
+		,bool dyna) 
+		: SumoPhysicsController(sumoScene,solidscene,sumoObj,motionstate,dyna),
+	KX_IPhysicsController(dyna,NULL) 
+	{
+	};
+	virtual ~KX_SumoPhysicsController();
+
+	void	applyImpulse(const MT_Point3& attach, const MT_Vector3& impulse);
+	virtual void	SetObject (SG_IObject* object);
+
+	
+	void	RelativeTranslate(const MT_Vector3& dloc,bool local);
+	void	RelativeRotate(const MT_Matrix3x3& drot,bool local);
+	void	ApplyTorque(const MT_Vector3& torque,bool local);
+	void	ApplyForce(const MT_Vector3& force,bool local);
+	MT_Vector3 GetLinearVelocity();
+	MT_Vector3 GetVelocity(const MT_Point3& pos);
+	void	SetAngularVelocity(const MT_Vector3& ang_vel,bool local);
+	void	SetLinearVelocity(const MT_Vector3& lin_vel,bool local);
+
+	void	SuspendDynamics();
+	void	RestoreDynamics();
+	virtual	void	getOrientation(MT_Quaternion& orn);
+	virtual	void setOrientation(const MT_Quaternion& orn);
+	
+	virtual	void setPosition(const MT_Point3& pos);
+	virtual	void setScaling(const MT_Vector3& scaling);
+	virtual	MT_Scalar	GetMass();
+	virtual	MT_Vector3	getReactionForce();
+	virtual	void	setRigidBody(bool rigid);
+	
+
+	virtual	SG_Controller*	GetReplica(class SG_Node* destnode);
+
+	
+	void	SetSumoTransform(bool nondynaonly);
+	// todo: remove next line !
+	virtual void	SetSimulatedTime(double time);
+	
+	// call from scene graph to update
+	virtual bool Update(double time);
+
+		void
+	SetOption(
+		int option,
+		int value
+	){
+		// intentionally empty
+	};
+
+
+};
+
+#endif //__KX_SUMOPHYSICSCONTROLLER_H
+
diff --git a/source/gameengine/Physics/Makefile b/source/gameengine/Physics/Makefile
index a3c711e52a2..349c225e7ee 100644
--- a/source/gameengine/Physics/Makefile
+++ b/source/gameengine/Physics/Makefile
@@ -35,6 +35,6 @@ include nan_definitions.mk
 
 SOURCEDIR = source/gameengine/Physics
 DIR = $(OCGDIR)/gameengine/blphys
-DIRS = common Dummy BlOde
+DIRS = common Sumo Dummy BlOde
 
 include nan_subdirs.mk
diff --git a/source/nan_definitions.mk b/source/nan_definitions.mk
index fca41aee843..eacd9b9d3a9 100644
--- a/source/nan_definitions.mk
+++ b/source/nan_definitions.mk
@@ -55,8 +55,8 @@ all debug::
     export NAN_MESA ?= /usr/src/Mesa-3.1
     export NAN_MOTO ?= $(LCGDIR)/moto
     export NAN_SOLID ?= $(SRCHOME)/sumo/SOLID-3.0
-    export NAN_SUMO ?= $(SRCHOME)/sumo
-    export NAN_FUZZICS ?= $(SRCHOME)/sumo/Fuzzics
+    export NAN_SUMO ?= $(SRCHOME)/gameengine/Physics/Sumo
+    export NAN_FUZZICS ?= $(SRCHOME)/gameengine/Physics/Sumo/Fuzzics
     export NAN_ODE ?= $(SRCHOME)/ode
     export NAN_OPENSSL ?= $(LCGDIR)/openssl
     export NAN_BLENKEY ?= $(LCGDIR)/blenkey