Fixed several bugs: python refcounting related and Bullet related (basic add/remove object support, bounding volume hierarchy). Added a few files, updated the Bullet scons. Vc6/7 Bullet projectfiles need to add a couple of files: 'Bullet/CollisionShapes/BvhTriangleMeshShape.cpp',

'Bullet/CollisionShapes/ConvexTriangleCallback.cpp',
'Bullet/CollisionShapes/EmptyShape.cpp',
'Bullet/CollisionShapes/OptimizedBvh.cpp',
'Bullet/CollisionShapes/TriangleCallback.cpp',
'Bullet/CollisionShapes/TriangleIndexVertexArray.cpp',
'Bullet/NarrowPhaseCollision/ManifoldContactAddResult.cpp'.
Sorry, no armatures fix yet.

5 files changed, 99 insertions, 16 deletions

diff --git a/source/gameengine/Ketsji/KX_BulletPhysicsController.cpp b/source/gameengine/Ketsji/KX_BulletPhysicsController.cpp
index 5857c614e2d..7806b77257a 100644
--- a/source/gameengine/Ketsji/KX_BulletPhysicsController.cpp
+++ b/source/gameengine/Ketsji/KX_BulletPhysicsController.cpp
@@ -7,6 +7,14 @@
 
 #include "Dynamics/RigidBody.h"
 
+#include "SG_Spatial.h"
+
+#include "KX_GameObject.h"
+#include "KX_MotionState.h"
+#include "KX_ClientObjectInfo.h"
+
+#include "PHY_IPhysicsEnvironment.h"
+
 KX_BulletPhysicsController::KX_BulletPhysicsController (const CcdConstructionInfo& ci, bool dyna)
 : KX_IPhysicsController(dyna,(PHY_IPhysicsController*)this),
 CcdPhysicsController(ci)
@@ -38,6 +46,16 @@ void	KX_BulletPhysicsController::applyImpulse(const MT_Point3& attach, const MT_
 
 void	KX_BulletPhysicsController::SetObject (SG_IObject* object)
 {
+	SG_Controller::SetObject(object);
+
+	// cheating here...
+	//should not be necessary, is it for duplicates ?
+
+	KX_GameObject* gameobj = (KX_GameObject*)	object->GetSGClientObject();
+	gameobj->SetPhysicsController(this,gameobj->IsDynamic());
+	//GetSumoObject()->setClientObject(gameobj->getClientInfo());
+
+
 }
 
 void	KX_BulletPhysicsController::RelativeTranslate(const MT_Vector3& dloc,bool local)
@@ -55,22 +73,25 @@ void	KX_BulletPhysicsController::RelativeRotate(const MT_Matrix3x3& drot,bool lo
 
 void	KX_BulletPhysicsController::ApplyTorque(const MT_Vector3& torque,bool local)
 {
+		CcdPhysicsController::ApplyTorque(torque.x(),torque.y(),torque.z(),local);
 }
 void	KX_BulletPhysicsController::ApplyForce(const MT_Vector3& force,bool local)
 {
+	CcdPhysicsController::ApplyForce(force.x(),force.y(),force.z(),local);
 }
 MT_Vector3 KX_BulletPhysicsController::GetLinearVelocity()
 {
-	assert(0);
-	return MT_Vector3(0.f,0.f,0.f);
-
+	float angVel[3];
+	CcdPhysicsController::GetAngularVelocity(angVel[0],angVel[1],angVel[2]);
+	return MT_Vector3(angVel[0],angVel[1],angVel[2]);
 }
 MT_Vector3 KX_BulletPhysicsController::GetVelocity(const MT_Point3& pos)
 {
-		assert(0);
-	return MT_Vector3(0.f,0.f,0.f);
-
+	float linVel[3];
+	CcdPhysicsController::GetLinearVelocity(linVel[0],linVel[1],linVel[2]);
+	return MT_Vector3(linVel[0],linVel[1],linVel[2]);
 }
+
 void	KX_BulletPhysicsController::SetAngularVelocity(const MT_Vector3& ang_vel,bool local)
 {
 	CcdPhysicsController::SetAngularVelocity(ang_vel.x(),ang_vel.y(),ang_vel.z(),local);
@@ -82,16 +103,21 @@ void	KX_BulletPhysicsController::SetLinearVelocity(const MT_Vector3& lin_vel,boo
 }
 void	KX_BulletPhysicsController::getOrientation(MT_Quaternion& orn)
 {
+	float myorn[4];
+	CcdPhysicsController::getOrientation(myorn[0],myorn[1],myorn[2],myorn[3]);
+	orn = MT_Quaternion(myorn[0],myorn[1],myorn[2],myorn[3]);
 }
 void KX_BulletPhysicsController::setOrientation(const MT_Quaternion& orn)
 {
+	CcdPhysicsController::setOrientation(orn.x(),orn.y(),orn.z(),orn.w());
 }
 void KX_BulletPhysicsController::setPosition(const MT_Point3& pos)
 {
-
+	CcdPhysicsController::setPosition(pos.x(),pos.y(),pos.z());
 }
 void KX_BulletPhysicsController::setScaling(const MT_Vector3& scaling)
 {
+	CcdPhysicsController::setScaling(scaling.x(),scaling.y(),scaling.z());
 }
 MT_Scalar	KX_BulletPhysicsController::GetMass()
 {
@@ -113,6 +139,7 @@ void	KX_BulletPhysicsController::setRigidBody(bool rigid)
 
 void	KX_BulletPhysicsController::SuspendDynamics()
 {
+
 }
 void	KX_BulletPhysicsController::RestoreDynamics()
 {
@@ -120,8 +147,42 @@ void	KX_BulletPhysicsController::RestoreDynamics()
 
 SG_Controller*	KX_BulletPhysicsController::GetReplica(class SG_Node* destnode)
 {
-	assert(0);
-	return 0;
+	PHY_IMotionState* motionstate = new KX_MotionState(destnode);
+
+	KX_BulletPhysicsController* physicsreplica = new KX_BulletPhysicsController(*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_BulletPhysicsController*)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_BulletPhysicsController*)clientgameobj->GetPhysicsController();
+				}
+			}
+		}
+	}
+
+	physicsreplica->PostProcessReplica(motionstate,parentctrl);
+
+	return physicsreplica;
+	
 }
 
 
diff --git a/source/gameengine/Ketsji/KX_ConvertPhysicsObjects.cpp b/source/gameengine/Ketsji/KX_ConvertPhysicsObjects.cpp
index e9a6c2442b0..646fc93dadb 100644
--- a/source/gameengine/Ketsji/KX_ConvertPhysicsObjects.cpp
+++ b/source/gameengine/Ketsji/KX_ConvertPhysicsObjects.cpp
@@ -673,6 +673,7 @@ void	KX_ConvertODEEngineObject(KX_GameObject* gameobj,
 #include "CollisionShapes/ConvexHullShape.h"
 #include "CollisionShapes/TriangleMesh.h"
 #include "CollisionShapes/TriangleMeshShape.h"
+#include "CollisionShapes/BvhTriangleMeshShape.h"
 
 
 static GEN_Map<GEN_HashedPtr,CollisionShape*>	map_gamemesh_to_bulletshape;
@@ -770,8 +771,8 @@ static CollisionShape* CreateBulletShapeFromMesh(RAS_MeshObject* meshobj, bool p
 	} else
 	{
 		collisionMeshData = new TriangleMesh();
-		concaveShape = new TriangleMeshShape(collisionMeshData);
-		collisionMeshShape = concaveShape;
+//		concaveShape = new TriangleMeshShape(collisionMeshData);
+		//collisionMeshShape = concaveShape;
 
 	}
 
@@ -843,7 +844,20 @@ static CollisionShape* CreateBulletShapeFromMesh(RAS_MeshObject* meshobj, bool p
 
 	if (numvalidpolys > 0)
 	{
+		
 		//map_gamemesh_to_bulletshape.insert(GEN_HashedPtr(meshobj),collisionMeshShape);
+		if (!polytope)
+		{
+			concaveShape = new BvhTriangleMeshShape( collisionMeshData );
+			//concaveShape = new TriangleMeshShape( collisionMeshData );
+
+			concaveShape->RecalcLocalAabb();
+			collisionMeshShape = concaveShape;
+
+		} 
+		
+		
+
 		return collisionMeshShape;
 	}
 
@@ -1002,7 +1016,7 @@ void	KX_ConvertBulletObject(	class	KX_GameObject* gameobj,
 	ci.m_broadphaseHandle = 0;
 	ci.m_friction = smmaterial->m_friction;
 	ci.m_restitution = smmaterial->m_restitution;
-
+	ci.m_physicsEnv = env;
 	// drag / damping is inverted
 	ci.m_linearDamping = 1.f - shapeprops->m_lin_drag;
 	ci.m_angularDamping = 1.f - shapeprops->m_ang_drag;
@@ -1010,7 +1024,11 @@ void	KX_ConvertBulletObject(	class	KX_GameObject* gameobj,
 	
 
 	KX_BulletPhysicsController* physicscontroller = new KX_BulletPhysicsController(ci,isbulletdyna);
-	env->addCcdPhysicsController( physicscontroller);
+
+	if (objprop->m_in_active_layer)
+	{
+		env->addCcdPhysicsController( physicscontroller);
+	}
 
 	
 	gameobj->SetPhysicsController(physicscontroller,isbulletdyna);
diff --git a/source/gameengine/Ketsji/KX_EmptyObject.cpp b/source/gameengine/Ketsji/KX_EmptyObject.cpp
index 8a72ba62f51..4636f2f0a3e 100644
--- a/source/gameengine/Ketsji/KX_EmptyObject.cpp
+++ b/source/gameengine/Ketsji/KX_EmptyObject.cpp
@@ -35,3 +35,7 @@
 #include <config.h>
 #endif
 
+KX_EmptyObject::~KX_EmptyObject()
+{
+
+}
diff --git a/source/gameengine/Ketsji/KX_EmptyObject.h b/source/gameengine/Ketsji/KX_EmptyObject.h
index b2038eb4816..46858b5c46d 100644
--- a/source/gameengine/Ketsji/KX_EmptyObject.h
+++ b/source/gameengine/Ketsji/KX_EmptyObject.h
@@ -39,7 +39,7 @@ public:
 	KX_EmptyObject(void* sgReplicationInfo,SG_Callbacks callbacks) :
 	KX_GameObject(sgReplicationInfo,callbacks) 
 	{};
-	virtual ~KX_EmptyObject() {};
+	virtual ~KX_EmptyObject();
 	
 };
 
diff --git a/source/gameengine/Ketsji/KX_Scene.cpp b/source/gameengine/Ketsji/KX_Scene.cpp
index 6ad420375e6..f13df6bfa44 100644
--- a/source/gameengine/Ketsji/KX_Scene.cpp
+++ b/source/gameengine/Ketsji/KX_Scene.cpp
@@ -732,7 +732,7 @@ void KX_Scene::ReplaceMesh(class CValue* gameobj,void* meshobj)
 		Object* blendobj = (struct Object*)m_logicmgr->FindBlendObjByGameObj(newobj);
 		Object* oldblendobj = (struct Object*)m_logicmgr->FindBlendObjByGameMeshName(mesh->GetName());
 		if (blendobj->parent && blendobj->parent->type == OB_ARMATURE && blendobj->partype==PARSKEL && ((Mesh*)blendobj->data)->dvert) {
-			BL_SkinDeformer* skindeformer = new BL_SkinDeformer(oldblendobj, blendobj, (BL_SkinMeshObject*)mesh);
+			BL_SkinDeformer* skindeformer = new BL_SkinDeformer(oldblendobj, blendobj, (BL_SkinMeshObject*)mesh,blendobj->parent);
 			skindeformer->SetArmature((BL_ArmatureObject*) newobj->GetParent());
 			
 			// FIXME: should the old m_pDeformer be deleted?
@@ -741,7 +741,7 @@ void KX_Scene::ReplaceMesh(class CValue* gameobj,void* meshobj)
 			((BL_DeformableGameObject*)newobj)->m_pDeformer = skindeformer;
 		}
 		else if (((Mesh*)blendobj->data)->dvert) {
-			BL_MeshDeformer* meshdeformer = new BL_MeshDeformer(oldblendobj, (BL_SkinMeshObject*)mesh);
+			BL_MeshDeformer* meshdeformer = new BL_MeshDeformer(oldblendobj, (BL_SkinMeshObject*)mesh,oldblendobj->parent);
 			
 			// FIXME: should the old m_pDeformer be deleted?
 			// delete ((BL_DeformableGameObject*)newobj)->m_pDeformer