some Bullet compound shape fix

1 files changed, 75 insertions, 68 deletions

diff --git a/source/gameengine/Ketsji/KX_ConvertPhysicsObjects.cpp b/source/gameengine/Ketsji/KX_ConvertPhysicsObjects.cpp
index e7a33fafffb..145b4eb4750 100644
--- a/source/gameengine/Ketsji/KX_ConvertPhysicsObjects.cpp
+++ b/source/gameengine/Ketsji/KX_ConvertPhysicsObjects.cpp
@@ -872,7 +872,6 @@ static btCollisionShape* CreateBulletShapeFromMesh(RAS_MeshObject* meshobj, bool
 }
 
 
-
 void	KX_ConvertBulletObject(	class	KX_GameObject* gameobj,
 	class	RAS_MeshObject* meshobj,
 	class	KX_Scene* kxscene,
@@ -884,11 +883,29 @@ void	KX_ConvertBulletObject(	class	KX_GameObject* gameobj,
 	CcdPhysicsEnvironment* env = (CcdPhysicsEnvironment*)kxscene->GetPhysicsEnvironment();
 	assert(env);
 	
-	bool isbulletdyna = objprop->m_dyna;
+
+	bool isbulletdyna = false;
 	CcdConstructionInfo ci;
+	class PHY_IMotionState* motionstate = new KX_MotionState(gameobj->GetSGNode());
+
+	
+
+	if (!objprop->m_dyna)
+	{
+		ci.m_collisionFlags |= btCollisionObject::CF_STATIC_OBJECT;
+	}
+
+	ci.m_MotionState = motionstate;
+	ci.m_gravity = btVector3(0,0,0);
 	ci.m_localInertiaTensor =btVector3(0,0,0);
 	ci.m_mass = objprop->m_dyna ? shapeprops->m_mass : 0.f;
-
+	isbulletdyna = objprop->m_dyna;
+	
+	ci.m_localInertiaTensor = btVector3(ci.m_mass/3.f,ci.m_mass/3.f,ci.m_mass/3.f);
+	
+	btTransform trans;
+	trans.setIdentity();
+	
 	btCollisionShape* bm = 0;
 
 	switch (objprop->m_boundclass)
@@ -1004,57 +1021,63 @@ void	KX_ConvertBulletObject(	class	KX_GameObject* gameobj,
 
 	bm->setMargin(0.06);
 
-	if (objprop->m_isCompoundChild)
-	{
-		//find parent, compound shape and add to it
-		//take relative transform into account!
-		KX_BulletPhysicsController* parentCtrl = (KX_BulletPhysicsController*)objprop->m_dynamic_parent->GetPhysicsController();
-		assert(parentCtrl);
-		btRigidBody* rigidbody = parentCtrl->GetRigidBody();
-		btCollisionShape* colShape = rigidbody->getCollisionShape();
-		assert(colShape->isCompound());
-		btCompoundShape* compoundShape = (btCompoundShape*)colShape;
-		btTransform childTrans;
-		childTrans.setIdentity();
-		NodeList& children = objprop->m_dynamic_parent->GetSGNode()->GetSGChildren();
-
-		MT_Point3 childPos = gameobj->GetSGNode()->GetLocalPosition();
-		MT_Matrix3x3 childRot = gameobj->GetSGNode()->GetLocalOrientation();
-		MT_Vector3 childScale = gameobj->GetSGNode()->GetLocalScale();
-
-		bm->setLocalScaling(btVector3(childScale.x(),childScale.y(),childScale.z()));
-		childTrans.setOrigin(btVector3(childPos.x(),childPos.y(),childPos.z()));
-		float rotval[12];
-		childRot.getValue(rotval);
-		btMatrix3x3 newRot;
-		newRot.setValue(rotval[0],rotval[1],rotval[2],rotval[4],rotval[5],rotval[6],rotval[8],rotval[9],rotval[10]);
-		newRot = newRot.transpose();
-
-		childTrans.setBasis(newRot);
-			
 
-		compoundShape->addChildShape(childTrans,bm);
-		//do some recalc?
-		//recalc inertia for rigidbody
-		if (!rigidbody->isStaticOrKinematicObject())
+
+		if (objprop->m_isCompoundChild)
 		{
-			btVector3 localInertia;
-			float mass = 1.f/rigidbody->getInvMass();
-			compoundShape->calculateLocalInertia(mass,localInertia);
-			rigidbody->setMassProps(mass,localInertia);
+			//find parent, compound shape and add to it
+			//take relative transform into account!
+			KX_BulletPhysicsController* parentCtrl = (KX_BulletPhysicsController*)objprop->m_dynamic_parent->GetPhysicsController();
+			assert(parentCtrl);
+			btRigidBody* rigidbody = parentCtrl->GetRigidBody();
+			btCollisionShape* colShape = rigidbody->getCollisionShape();
+			assert(colShape->isCompound());
+			btCompoundShape* compoundShape = (btCompoundShape*)colShape;
+			btTransform childTrans;
+			childTrans.setIdentity();
+			NodeList& children = objprop->m_dynamic_parent->GetSGNode()->GetSGChildren();
+
+			MT_Point3 childPos = gameobj->GetSGNode()->GetLocalPosition();
+			MT_Matrix3x3 childRot = gameobj->GetSGNode()->GetLocalOrientation();
+			MT_Vector3 childScale = gameobj->GetSGNode()->GetLocalScale();
+
+			bm->setLocalScaling(btVector3(childScale.x(),childScale.y(),childScale.z()));
+			childTrans.setOrigin(btVector3(childPos.x(),childPos.y(),childPos.z()));
+			float rotval[12];
+			childRot.getValue(rotval);
+			btMatrix3x3 newRot;
+			newRot.setValue(rotval[0],rotval[1],rotval[2],rotval[4],rotval[5],rotval[6],rotval[8],rotval[9],rotval[10]);
+			newRot = newRot.transpose();
+
+			childTrans.setBasis(newRot);
+				
+
+			compoundShape->addChildShape(childTrans,bm);
+			//do some recalc?
+			//recalc inertia for rigidbody
+			if (!rigidbody->isStaticOrKinematicObject())
+			{
+				btVector3 localInertia;
+				float mass = 1.f/rigidbody->getInvMass();
+				compoundShape->calculateLocalInertia(mass,localInertia);
+				rigidbody->setMassProps(mass,localInertia);
+			}
+			return;
 		}
-		return;
-	}
 
-	if (objprop->m_hasCompoundChildren)
-	{
-		//replace shape by compoundShape
-		btCompoundShape* compoundShape = new btCompoundShape();
-		btTransform identTrans;
-		identTrans.setIdentity();
-		compoundShape->addChildShape(identTrans,bm);
-		bm = compoundShape;
-	}
+		if (objprop->m_hasCompoundChildren)
+		{
+			//replace shape by compoundShape
+			btCompoundShape* compoundShape = new btCompoundShape();
+			btTransform identTrans;
+			identTrans.setIdentity();
+			compoundShape->addChildShape(identTrans,bm);
+			bm = compoundShape;
+		}
+
+
+
+
 
 
 #ifdef TEST_SIMD_HULL
@@ -1087,23 +1110,6 @@ void	KX_ConvertBulletObject(	class	KX_GameObject* gameobj,
 	ci.m_collisionShape = bm;
 	
 
-	class PHY_IMotionState* motionstate = new KX_MotionState(gameobj->GetSGNode());
-
-	if (!objprop->m_dyna)
-	{
-		ci.m_collisionFlags |= btCollisionObject::CF_STATIC_OBJECT;
-	}
-
-	
-	ci.m_MotionState = motionstate;
-	ci.m_gravity = btVector3(0,0,0);
-	
-	ci.m_localInertiaTensor = btVector3(ci.m_mass/3.f,ci.m_mass/3.f,ci.m_mass/3.f);
-	
-	btTransform trans;
-	trans.setIdentity();
-	
-
 	
 	ci.m_friction = smmaterial->m_friction;//tweak the friction a bit, so the default 0.5 works nice
 	ci.m_restitution = smmaterial->m_restitution;
@@ -1175,7 +1181,8 @@ void	KX_ConvertBulletObject(	class	KX_GameObject* gameobj,
 	physicscontroller->SetObject(gameobj->GetSGNode());
 
 }
-	
+
+
 void	KX_ClearBulletSharedShapes()
 {
 	int numshapes = map_gamemesh_to_bulletshape.size();