- enabled compound collision objects, requires 'clear parent inverse'

- fixed some issues with kinematic objects, introduced during Bullet 2.x upgrade

3 files changed, 104 insertions, 21 deletions

diff --git a/source/gameengine/Ketsji/KX_BulletPhysicsController.cpp b/source/gameengine/Ketsji/KX_BulletPhysicsController.cpp
index d28a8f40d6f..6785cb957bc 100644
--- a/source/gameengine/Ketsji/KX_BulletPhysicsController.cpp
+++ b/source/gameengine/Ketsji/KX_BulletPhysicsController.cpp
@@ -195,6 +195,34 @@ SG_Controller*	KX_BulletPhysicsController::GetReplica(class SG_Node* destnode)
 
 void	KX_BulletPhysicsController::SetSumoTransform(bool nondynaonly)
 {
+	GetRigidBody()->activate(true);
+
+	if (!m_bDyna)
+	{
+		GetRigidBody()->setCollisionFlags(GetRigidBody()->getCollisionFlags() | btCollisionObject::CF_KINEMATIC_OBJECT);
+	} else
+	{
+		if (!nondynaonly)
+		{
+			btTransform worldTrans;
+			GetRigidBody()->getMotionState()->getWorldTransform(worldTrans);
+			GetRigidBody()->setCenterOfMassTransform(worldTrans);
+			
+			/*
+			scaling?
+			if (m_bDyna)
+			{
+				m_sumoObj->setScaling(MT_Vector3(1,1,1));
+			} else
+			{
+				MT_Vector3 scale;
+				GetWorldScaling(scale);
+				m_sumoObj->setScaling(scale);
+			}
+			*/
+
+		}
+	}
 }
 
 // todo: remove next line !
diff --git a/source/gameengine/Ketsji/KX_ConvertPhysicsObject.h b/source/gameengine/Ketsji/KX_ConvertPhysicsObject.h
index a976a6b13b1..684e052323d 100644
--- a/source/gameengine/Ketsji/KX_ConvertPhysicsObject.h
+++ b/source/gameengine/Ketsji/KX_ConvertPhysicsObject.h
@@ -57,7 +57,8 @@ typedef enum {
 	KX_BOUNDCYLINDER,
 	KX_BOUNDCONE,
 	KX_BOUNDMESH,
-	KX_BOUNDPOLYTOPE
+	KX_BOUNDPOLYTOPE,
+	KX_BOUND_DYN_MESH
 } KX_BoundBoxClass;
 
 struct KX_BoxBounds
@@ -86,6 +87,8 @@ struct KX_ObjectProperties
 	bool	m_concave;
 	bool	m_isdeformable;
 	bool	m_disableSleeping;
+	bool	m_hasCompoundChildren;
+	bool	m_isCompoundChild;
 	KX_BoundBoxClass	m_boundclass;
 	union {
 		KX_BoxBounds	box;
diff --git a/source/gameengine/Ketsji/KX_ConvertPhysicsObjects.cpp b/source/gameengine/Ketsji/KX_ConvertPhysicsObjects.cpp
index ca75b77dfec..e7a33fafffb 100644
--- a/source/gameengine/Ketsji/KX_ConvertPhysicsObjects.cpp
+++ b/source/gameengine/Ketsji/KX_ConvertPhysicsObjects.cpp
@@ -884,29 +884,11 @@ void	KX_ConvertBulletObject(	class	KX_GameObject* gameobj,
 	CcdPhysicsEnvironment* env = (CcdPhysicsEnvironment*)kxscene->GetPhysicsEnvironment();
 	assert(env);
 	
-
-	bool isbulletdyna = false;
+	bool isbulletdyna = objprop->m_dyna;
 	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)
@@ -1022,6 +1004,59 @@ 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())
+		{
+			btVector3 localInertia;
+			float mass = 1.f/rigidbody->getInvMass();
+			compoundShape->calculateLocalInertia(mass,localInertia);
+			rigidbody->setMassProps(mass,localInertia);
+		}
+		return;
+	}
+
+	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
 	if (bm->IsPolyhedral())
 	{
@@ -1052,6 +1087,23 @@ 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;