=bmesh= merge from trunk at r36153

4 files changed, 130 insertions, 12 deletions

diff --git a/source/gameengine/Physics/Bullet/CMakeLists.txt b/source/gameengine/Physics/Bullet/CMakeLists.txt
index c677685de49..cc469c3772a 100644
--- a/source/gameengine/Physics/Bullet/CMakeLists.txt
+++ b/source/gameengine/Physics/Bullet/CMakeLists.txt
@@ -31,7 +31,6 @@ set(INC
 	.
 	../common
 	../../../../extern/bullet2/src
-	../../../../extern/glew/include
 	../../../../intern/moto/include
 	../../../../intern/guardedalloc
 	../../../kernel/gen_system
@@ -44,6 +43,7 @@ set(INC
 	../../../../source/blender/makesdna
 	../../../../source/blender/blenlib
 	../../../../source/blender/blenkernel
+	${GLEW_INCLUDE_PATH}
 	${PYTHON_INCLUDE_DIRS}
 )
 
diff --git a/source/gameengine/Physics/Bullet/CcdPhysicsController.h b/source/gameengine/Physics/Bullet/CcdPhysicsController.h
index dc7a88e8db1..00ecc64c41e 100644
--- a/source/gameengine/Physics/Bullet/CcdPhysicsController.h
+++ b/source/gameengine/Physics/Bullet/CcdPhysicsController.h
@@ -577,6 +577,10 @@ protected:
 			return m_parentCtrl;
 		}
 
+		virtual const char* getName()
+		{
+			return 0;
+		}
 
 #ifdef WITH_CXX_GUARDEDALLOC
 public:
diff --git a/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.cpp b/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.cpp
index 93f1d0962d7..c87157ee993 100644
--- a/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.cpp
+++ b/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.cpp
@@ -470,8 +470,12 @@ void	CcdPhysicsEnvironment::updateCcdPhysicsController(CcdPhysicsController* ctr
 			if (newMass)
 				body->getCollisionShape()->calculateLocalInertia(newMass, inertia);
 			body->setMassProps(newMass, inertia);
+			m_dynamicsWorld->addRigidBody(body, newCollisionGroup, newCollisionMask);
+		}	
+		else
+		{
+			m_dynamicsWorld->addCollisionObject(obj, newCollisionGroup, newCollisionMask);
 		}
-		m_dynamicsWorld->addCollisionObject(obj, newCollisionGroup, newCollisionMask);
 	}
 	// to avoid nasty interaction, we must update the property of the controller as well
 	ctrl->m_cci.m_mass = newMass;
@@ -1457,7 +1461,7 @@ struct OcclusionBuffer
 						const float face,
 						const btScalar minarea)
 	{
-		const btScalar		a2=cross(b-a,c-a)[2];
+		const btScalar		a2=btCross(b-a,c-a)[2];
 		if((face*a2)<0.f || btFabs(a2)<minarea)
 			return false;
 		// further down we are normally going to write to the Zbuffer, mark it so
@@ -1990,6 +1994,44 @@ void	CcdPhysicsEnvironment::setConstraintParam(int constraintId,int param,float
 			default:
 				{
 				}
+			};
+			break;
+		};
+	case PHY_CONE_TWIST_CONSTRAINT:
+		{
+			switch (param)
+			{
+			case 3: case 4: case 5:
+				{
+					//param = 3,4,5 are constraint limits, high limit values
+					btConeTwistConstraint* coneTwist = (btConeTwistConstraint*)typedConstraint;
+					if(value1<0.0f)
+						coneTwist->setLimit(param,btScalar(BT_LARGE_FLOAT));
+					else
+						coneTwist->setLimit(param,value1);
+					break;
+				}
+			default:
+				{
+				}
+			};
+			break;
+		};
+	case PHY_ANGULAR_CONSTRAINT:
+	case PHY_LINEHINGE_CONSTRAINT:
+		{
+			switch (param)
+			{
+			case 3:
+				{
+					//param = 3 is a constraint limit, with low/high limit value
+					btHingeConstraint* hingeCons = (btHingeConstraint*)typedConstraint;
+					hingeCons->setLimit(value0,value1);
+					break;
+				}
+			default:
+				{
+				}
 			}
 			break;
 		};
@@ -2623,20 +2665,54 @@ int			CcdPhysicsEnvironment::createConstraint(class PHY_IPhysicsController* ctrl
 
 			if (rb1)
 			{
-				btVector3 axisInB = rb1 ? 
-				(rb1->getCenterOfMassTransform().getBasis().inverse()*(rb0->getCenterOfMassTransform().getBasis() * axisInA)) : 
-				rb0->getCenterOfMassTransform().getBasis() * axisInA;
+				// We know the orientations so we should use them instead of
+				// having btHingeConstraint fill in the blanks any way it wants to.
+				btTransform frameInA;
+				btTransform frameInB;
+				
+				btVector3 axis1(axis1X,axis1Y,axis1Z), axis2(axis2X,axis2Y,axis2Z);
+				if (axis1.length() == 0.0)
+				{
+					btPlaneSpace1( axisInA, axis1, axis2 );
+				}
+				
+				// Internally btHingeConstraint's hinge-axis is z
+				frameInA.getBasis().setValue( axis1.x(), axis2.x(), axisInA.x(),
+											axis1.y(), axis2.y(), axisInA.y(),
+											axis1.z(), axis2.z(), axisInA.z() );
+											
+				frameInA.setOrigin( pivotInA );
 
-				hinge = new btHingeConstraint(
-					*rb0,
-					*rb1,pivotInA,pivotInB,axisInA,axisInB);
+				btTransform inv = rb1->getCenterOfMassTransform().inverse();
+
+				btTransform globalFrameA = rb0->getCenterOfMassTransform() * frameInA;
+				
+				frameInB = inv  * globalFrameA;
+				
+				hinge = new btHingeConstraint(*rb0,*rb1,frameInA,frameInB);
 
 
 			} else
 			{
-				hinge = new btHingeConstraint(*rb0,
-					pivotInA,axisInA);
+				static btRigidBody s_fixedObject2( 0,0,0);
+
+				btTransform frameInA;
+				btTransform frameInB;
+				
+				btVector3 axis1(axis1X,axis1Y,axis1Z), axis2(axis2X,axis2Y,axis2Z);
+				if (axis1.length() == 0.0)
+				{
+					btPlaneSpace1( axisInA, axis1, axis2 );
+				}
+
+				// Internally btHingeConstraint's hinge-axis is z
+				frameInA.getBasis().setValue( axis1.x(), axis2.x(), axisInA.x(),
+											axis1.y(), axis2.y(), axisInA.y(),
+											axis1.z(), axis2.z(), axisInA.z() );
+				frameInA.setOrigin( pivotInA );
+				frameInB = rb0->getCenterOfMassTransform() * frameInA;
 
+				hinge = new btHingeConstraint(*rb0, s_fixedObject2, frameInA, frameInB);
 			}
 			hinge->setAngularOnly(angularOnly);
 
@@ -2721,3 +2797,35 @@ float		CcdPhysicsEnvironment::getAppliedImpulse(int	constraintid)
 
 	return 0.f;
 }
+
+void	CcdPhysicsEnvironment::exportFile(const char* filename)
+{
+	btDefaultSerializer*	serializer = new btDefaultSerializer();
+	
+		
+	for (int i=0;i<m_dynamicsWorld->getNumCollisionObjects();i++)
+	{
+
+		btCollisionObject* colObj = m_dynamicsWorld->getCollisionObjectArray()[i];
+
+		CcdPhysicsController* controller = static_cast<CcdPhysicsController*>(colObj->getUserPointer());
+		if (controller)
+		{
+			const char* name = controller->getName();
+			if (name)
+			{
+				serializer->registerNameForPointer(colObj,name);
+			}
+		}
+	}
+
+	m_dynamicsWorld->serialize(serializer);
+
+	FILE* file = fopen(filename,"wb");
+	if (file)
+	{
+		fwrite(serializer->getBufferPointer(),serializer->getCurrentBufferSize(),1, file);
+		fclose(file);
+	}
+}
+
diff --git a/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.h b/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.h
index 4b97dc95179..51e00b9111f 100644
--- a/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.h
+++ b/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.h
@@ -125,7 +125,11 @@ protected:
 		virtual void		debugDrawWorld();
 //		virtual bool		proceedDeltaTimeOneStep(float timeStep);
 
-		virtual	void		setFixedTimeStep(bool useFixedTimeStep,float fixedTimeStep){};
+		virtual	void		setFixedTimeStep(bool useFixedTimeStep,float fixedTimeStep)
+		{
+			//based on DEFAULT_PHYSICS_TIC_RATE of 60 hertz
+			setNumTimeSubSteps(fixedTimeStep/60.f);
+		}
 		//returns 0.f if no fixed timestep is used
 
 		virtual	float		getFixedTimeStep(){ return 0.f;};
@@ -280,6 +284,8 @@ protected:
 
 		bool	m_scalingPropagated;
 
+		virtual void	exportFile(const char* filename);
+
 		
 #ifdef WITH_CXX_GUARDEDALLOC
 public: