BGE bug #17688 fixed: Near Sensor Reset not working (for Gamekit)

Implementation of the PHY_IPhysicsController::SetMargin(),
GetMargin(), SetRadius() and GetRadius() for Bullet and Sumo
to allow resetting the Near sensor radius. For bullet use 
the new setUnscaledRadius() function to change sphere radius.

In pPreparation of a Fh constraint actuator:
- Add KX_IPhysicsController::GetRadius()
- Fix implementation of KX_BulletPhysicsController::GetVelocity()
  (velocity at a point in geometric coordinate)
- Don't try to set velocity on static object (Bullet will assert)
- Add KX_GameObject::GetVelocity() for C access to local velocity

10 files changed, 43 insertions, 8 deletions

diff --git a/source/gameengine/Ketsji/KX_BulletPhysicsController.cpp b/source/gameengine/Ketsji/KX_BulletPhysicsController.cpp
index 3d20ce8a3a5..bf838e60210 100644
--- a/source/gameengine/Ketsji/KX_BulletPhysicsController.cpp
+++ b/source/gameengine/Ketsji/KX_BulletPhysicsController.cpp
@@ -115,7 +115,7 @@ MT_Vector3 KX_BulletPhysicsController::GetAngularVelocity()
 MT_Vector3 KX_BulletPhysicsController::GetVelocity(const MT_Point3& pos)
 {
 	float linVel[3];
-	CcdPhysicsController::GetLinearVelocity(linVel[0],linVel[1],linVel[2]);
+	CcdPhysicsController::GetVelocity(pos[0], pos[1], pos[2], linVel[0],linVel[1],linVel[2]);
 	return MT_Vector3(linVel[0],linVel[1],linVel[2]);
 }
 
@@ -160,6 +160,12 @@ MT_Scalar	KX_BulletPhysicsController::GetMass()
 	return 0.f;
 
 }
+
+MT_Scalar KX_BulletPhysicsController::GetRadius()
+{
+	return MT_Scalar(CcdPhysicsController::GetRadius());
+}
+
 MT_Vector3	KX_BulletPhysicsController::getReactionForce()
 {
 	assert(0);
diff --git a/source/gameengine/Ketsji/KX_BulletPhysicsController.h b/source/gameengine/Ketsji/KX_BulletPhysicsController.h
index 2efe0474b30..cdcb82c87ca 100644
--- a/source/gameengine/Ketsji/KX_BulletPhysicsController.h
+++ b/source/gameengine/Ketsji/KX_BulletPhysicsController.h
@@ -49,9 +49,7 @@ public:
 
 	virtual	SG_Controller*	GetReplica(class SG_Node* destnode);
 
-	void	SetDyna(bool isDynamic) {
-		m_bDyna = isDynamic;
-	}
+	virtual MT_Scalar GetRadius();
 
 
 	virtual void	SetSumoTransform(bool nondynaonly);
diff --git a/source/gameengine/Ketsji/KX_GameObject.cpp b/source/gameengine/Ketsji/KX_GameObject.cpp
index 15055a9cf93..1b57b9acc1d 100644
--- a/source/gameengine/Ketsji/KX_GameObject.cpp
+++ b/source/gameengine/Ketsji/KX_GameObject.cpp
@@ -772,7 +772,14 @@ MT_Vector3 KX_GameObject::GetAngularVelocity(bool local)
 	return velocity;	
 }
 
-
+MT_Vector3 KX_GameObject::GetVelocity(const MT_Point3& point)
+{
+	if (m_pPhysicsController1)
+	{
+		return m_pPhysicsController1->GetVelocity(point);
+	}
+	return MT_Vector3(0.0,0.0,0.0);
+}
 
 // scenegraph node stuff
 
diff --git a/source/gameengine/Ketsji/KX_GameObject.h b/source/gameengine/Ketsji/KX_GameObject.h
index 12e29cf3294..472d31362dd 100644
--- a/source/gameengine/Ketsji/KX_GameObject.h
+++ b/source/gameengine/Ketsji/KX_GameObject.h
@@ -264,6 +264,15 @@ public:
 		bool local=false
 	);
 
+	/** 
+	 * Return the linear velocity of a given point in world coordinate
+	 * but relative to center of object ([0,0,0]=center of object)
+	 */
+		MT_Vector3 
+	GetVelocity(
+		const MT_Point3& position
+	);
+
 	/**
 	 * Return the mass of the object
 	 */
diff --git a/source/gameengine/Ketsji/KX_IPhysicsController.h b/source/gameengine/Ketsji/KX_IPhysicsController.h
index ecfdb8c4275..4ea283e9f98 100644
--- a/source/gameengine/Ketsji/KX_IPhysicsController.h
+++ b/source/gameengine/Ketsji/KX_IPhysicsController.h
@@ -88,7 +88,11 @@ public:
 		m_bDyna = isDynamic;
 	}
 
+	bool	IsDyna(void) {
+		return m_bDyna;
+	}
 
+	virtual MT_Scalar GetRadius()=0;
 	virtual void	SetSumoTransform(bool nondynaonly)=0;
 	// todo: remove next line !
 	virtual void	SetSimulatedTime(double time)=0;
diff --git a/source/gameengine/Ketsji/KX_NearSensor.cpp b/source/gameengine/Ketsji/KX_NearSensor.cpp
index 140dd37f5c6..b00cd616a5b 100644
--- a/source/gameengine/Ketsji/KX_NearSensor.cpp
+++ b/source/gameengine/Ketsji/KX_NearSensor.cpp
@@ -190,13 +190,13 @@ bool KX_NearSensor::Evaluate(CValue* event)
 		{
 			if (m_physCtrl)
 			{
-				m_physCtrl->SetMargin(m_ResetMargin);
+				m_physCtrl->SetRadius(m_ResetMargin);
 			}
 		} else
 		{
 			if (m_physCtrl)
 			{
-				m_physCtrl->SetMargin(m_Margin);
+				m_physCtrl->SetRadius(m_Margin);
 			}
 
 		}
diff --git a/source/gameengine/Ketsji/KX_OdePhysicsController.cpp b/source/gameengine/Ketsji/KX_OdePhysicsController.cpp
index 05feb11a2bc..6a701a5f25b 100644
--- a/source/gameengine/Ketsji/KX_OdePhysicsController.cpp
+++ b/source/gameengine/Ketsji/KX_OdePhysicsController.cpp
@@ -169,6 +169,11 @@ MT_Scalar	KX_OdePhysicsController::GetMass()
 	return ODEPhysicsController::getMass();
 }
 
+MT_Scalar	KX_OdePhysicsController::GetRadius()
+{
+	return MT_Scalar(0.f);
+}
+
 MT_Vector3	KX_OdePhysicsController::getReactionForce()
 {
 	return MT_Vector3(0,0,0);
diff --git a/source/gameengine/Ketsji/KX_OdePhysicsController.h b/source/gameengine/Ketsji/KX_OdePhysicsController.h
index 18f9edc6835..53050f6ce3e 100644
--- a/source/gameengine/Ketsji/KX_OdePhysicsController.h
+++ b/source/gameengine/Ketsji/KX_OdePhysicsController.h
@@ -76,7 +76,7 @@ public:
 
 	virtual void	SuspendDynamics(bool);
 	virtual void	RestoreDynamics();
-	
+	virtual MT_Scalar GetRadius();
 
 	virtual	SG_Controller*	GetReplica(class SG_Node* destnode);
 
diff --git a/source/gameengine/Ketsji/KX_SumoPhysicsController.cpp b/source/gameengine/Ketsji/KX_SumoPhysicsController.cpp
index 4032a795ce3..c842ca1ee14 100644
--- a/source/gameengine/Ketsji/KX_SumoPhysicsController.cpp
+++ b/source/gameengine/Ketsji/KX_SumoPhysicsController.cpp
@@ -205,6 +205,11 @@ MT_Scalar	KX_SumoPhysicsController::GetMass()
 	return SumoPhysicsController::getMass();
 }
 
+MT_Scalar	KX_SumoPhysicsController::GetRadius()
+{
+	return SumoPhysicsController::GetRadius();
+}
+
 MT_Vector3	KX_SumoPhysicsController::getReactionForce()
 {
 	float force[3];
diff --git a/source/gameengine/Ketsji/KX_SumoPhysicsController.h b/source/gameengine/Ketsji/KX_SumoPhysicsController.h
index 1dd930bf3d9..abe48d99043 100644
--- a/source/gameengine/Ketsji/KX_SumoPhysicsController.h
+++ b/source/gameengine/Ketsji/KX_SumoPhysicsController.h
@@ -84,6 +84,7 @@ public:
 	virtual	void setPosition(const MT_Point3& pos);
 	virtual	void setScaling(const MT_Vector3& scaling);
 	virtual	MT_Scalar	GetMass();
+	virtual	MT_Scalar	GetRadius();
 	virtual	MT_Vector3	getReactionForce();
 	virtual	void	setRigidBody(bool rigid);