Fix for bugs: 1788 (forces) and 1799 (python delattr on game objects)

Use Polytope collision for faster mesh intersection tests, so SOLID can actually use that qhull lib now.

1 files changed, 71 insertions, 0 deletions

diff --git a/source/gameengine/Physics/Sumo/Fuzzics/src/SM_MotionState.cpp b/source/gameengine/Physics/Sumo/Fuzzics/src/SM_MotionState.cpp
new file mode 100644
index 00000000000..a3285b19116
--- /dev/null
+++ b/source/gameengine/Physics/Sumo/Fuzzics/src/SM_MotionState.cpp
@@ -0,0 +1,71 @@
+/**
+ * $Id$
+ *
+ * ***** BEGIN GPL/BL DUAL LICENSE BLOCK *****
+ *
+ * This program is free software; you can redistribute it and/or
+ * modify it under the terms of the GNU General Public License
+ * as published by the Free Software Foundation; either version 2
+ * of the License, or (at your option) any later version. The Blender
+ * Foundation also sells licenses for use in proprietary software under
+ * the Blender License.  See http://www.blender.org/BL/ for information
+ * about this.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program; if not, write to the Free Software Foundation,
+ * Inc., 59 Temple Place - Suite 330, Boston, MA  02111-1307, USA.
+ *
+ * The Original Code is Copyright (C) 2001-2002 by NaN Holding BV.
+ * All rights reserved.
+ *
+ * The Original Code is: all of this file.
+ *
+ * Contributor(s): none yet.
+ *
+ * ***** END GPL/BL DUAL LICENSE BLOCK *****
+ */
+
+#include <MT_Vector3.h>
+#include <MT_Quaternion.h>
+ 
+#include "SM_MotionState.h"
+
+void SM_MotionState::integrateMidpoint(MT_Scalar timeStep, const SM_MotionState &prev_state, const MT_Vector3 &velocity, const MT_Quaternion& ang_vel)
+{
+	m_pos += (prev_state.getLinearVelocity() + velocity) * (timeStep * 0.5);
+	m_orn += (prev_state.getAngularVelocity() * prev_state.getOrientation() + ang_vel * m_orn) * (timeStep * 0.25);
+	m_orn.normalize();
+}
+
+void SM_MotionState::integrateBackward(MT_Scalar timeStep, const MT_Vector3 &velocity, const MT_Quaternion& ang_vel)
+{
+	m_pos += velocity * timeStep;
+	m_orn += ang_vel * m_orn * (timeStep * 0.5);
+	m_orn.normalize();
+}
+
+void SM_MotionState::integrateForward(MT_Scalar timeStep, const SM_MotionState &prev_state)
+{
+	m_pos += prev_state.getLinearVelocity() * timeStep;
+	m_orn += prev_state.getAngularVelocity() * m_orn * (timeStep * 0.5);
+	m_orn.normalize();
+}
+
+void SM_MotionState::lerp(MT_Scalar t, const SM_MotionState &other)
+{
+	MT_Scalar x = (t - getTime())/(other.getTime() - getTime());
+	m_pos = x*m_pos + (1-x)*other.getPosition();
+	
+	m_orn = m_orn.slerp(other.getOrientation(), x);
+	
+	m_lin_vel = x*m_lin_vel + (1-x)*other.getLinearVelocity();
+	m_ang_vel = x*m_ang_vel + (1-x)*other.getAngularVelocity();
+	
+	m_time = t;
+}
+