BGE: new sensor object to generalize Near and Radar sensor, static-static collision capbility.

A new type of "Sensor" physics object is available in the GE for advanced
collision management. It's called Sensor for its similarities with the
physics objects that underlie the Near and Radar sensors.
Like the Near and Radar object it is:
- static and ghost
- invisible by default
- always active to ensure correct collision detection
- capable of detecting both static and dynamic objects
- ignoring collision with their parent
- capable of broadphase filtering based on:
  * Actor option: the collisioning object must have the Actor flag set to be detected
  * property/material: as specified in the collision sensors attached to it
  Broadphase filtering is important for performance reason: the collision points
  will be computed only for the objects that pass the broahphase filter.
- automatically removed from the simulation when no collision sensor is active on it

Unlike the Near and Radar object it can:
- take any shape, including triangle mesh
- be made visible for debugging (just use the Visible actuator)
- have multiple collision sensors using it

Other than that, the sensor objects are ordinary objects. You can move them
freely or parent them. When parented to a dynamic object, they can provide
advanced collision control to this object.

The type of collision capability depends on the shape:
- box, sphere, cylinder, cone, convex hull provide volume detection.
- triangle mesh provides surface detection but you can give some volume
  to the suface by increasing the margin in the Advanced Settings panel.
  The margin applies on both sides of the surface.

Performance tip:
- Sensor objects perform better than Near and Radar: they do less synchronizations
  because of the Scenegraph optimizations and they can have multiple collision sensors
  on them (with different property filtering for example).
- Always prefer simple shape (box, sphere) to complex shape whenever possible.
- Always use broadphase filtering (avoid collision sensor with empty propery/material)
- Use collision sensor only when you need them. When no collision sensor is active
  on the sensor object, it is removed from the simulation and consume no CPU.

Known limitations:
- When running Blender in debug mode, you will see one warning line of the console:
  "warning btCollisionDispatcher::needsCollision: static-static collision!"
  In release mode this message is not printed.
- Collision margin has no effect on sphere, cone and cylinder shape.

Other performance improvements:
- Remove unnecessary interpolation for Near and Radar objects and by extension
  sensor objects.
- Use direct matrix copy instead of quaternion to synchronize orientation.

Other bug fix:
- Fix Near/Radar position error on newly activated objects. This was causing
  several detection problems in YoFrankie
- Fix margin not passed correctly to gImpact shape.
- Disable force/velocity actions on static objects 

1 files changed, 9 insertions, 5 deletions

diff --git a/source/gameengine/Physics/Bullet/CcdPhysicsController.h b/source/gameengine/Physics/Bullet/CcdPhysicsController.h
index 315e2bdf429..fc8de0e2ded 100644
--- a/source/gameengine/Physics/Bullet/CcdPhysicsController.h
+++ b/source/gameengine/Physics/Bullet/CcdPhysicsController.h
@@ -152,7 +152,7 @@ public:
 		return m_shapeProxy;
 	}
 
-	btCollisionShape* CreateBulletShape();
+	btCollisionShape* CreateBulletShape(btScalar margin);
 
 	// member variables
 	PHY_ShapeType			m_shapeType;
@@ -222,6 +222,7 @@ struct CcdConstructionInfo
 		m_collisionFlags(0),
 		m_bRigid(false),
 		m_bSoft(false),
+		m_bSensor(false),
 		m_collisionFilterGroup(DefaultFilter),
 		m_collisionFilterMask(AllFilter),
 		m_collisionShape(0),
@@ -288,6 +289,7 @@ struct CcdConstructionInfo
 	int			m_collisionFlags;
 	bool		m_bRigid;
 	bool		m_bSoft;
+	bool		m_bSensor;
 
 	///optional use of collision group/mask:
 	///only collision with object goups that match the collision mask.
@@ -326,7 +328,7 @@ class btSoftBody;
 ///CcdPhysicsController is a physics object that supports continuous collision detection and time of impact based physics resolution.
 class CcdPhysicsController : public PHY_IPhysicsController	
 {
-
+protected:
 	btCollisionObject* m_object;
 	
 
@@ -361,8 +363,8 @@ class CcdPhysicsController : public PHY_IPhysicsController
 		return (--m_registerCount == 0) ? true : false;
 	}
 
-	protected:
-		void setWorldOrientation(const btMatrix3x3& mat);
+	void setWorldOrientation(const btMatrix3x3& mat);
+	void forceWorldTransform(const btMatrix3x3& mat, const btVector3& pos);
 
 	public:
 	
@@ -407,6 +409,7 @@ class CcdPhysicsController : public PHY_IPhysicsController
 		
 		virtual void		WriteMotionStateToDynamics(bool nondynaonly);
 		virtual	void		WriteDynamicsToMotionState();
+
 		// controller replication
 		virtual	void		PostProcessReplica(class PHY_IMotionState* motionstate,class PHY_IPhysicsController* parentctrl);
 
@@ -505,7 +508,7 @@ class CcdPhysicsController : public PHY_IPhysicsController
 
 		void	SetCenterOfMassTransform(btTransform& xform);
 
-		static btTransform	GetTransformFromMotionState(PHY_IMotionState* motionState);
+		static btTransform&	GetTransformFromMotionState(PHY_IMotionState* motionState);
 
 		void	setAabb(const btVector3& aabbMin,const btVector3& aabbMax);
 
@@ -563,6 +566,7 @@ class	DefaultMotionState : public PHY_IMotionState
 		virtual void	setWorldPosition(float posX,float posY,float posZ);
 		virtual	void	setWorldOrientation(float quatIma0,float quatIma1,float quatIma2,float quatReal);
 		virtual void	getWorldOrientation(float* ori);
+		virtual void	setWorldOrientation(const float* ori);
 		
 		virtual	void	calculateWorldTransformations();