BGE #18823: Loading older blend files (from the blender Gamekit 1.0 demos) that use Sumo crash on playback in 2.48.5, worked in rc3. Fixed by upgrading Sumo to support the new method of sensor synchronization introduced with Sensor objects in Bullet. Sumo demo will not crash but may still not run well as other features and methods have not been ported.

3 files changed, 104 insertions, 4 deletions

diff --git a/source/gameengine/Physics/Sumo/SumoPhysicsController.cpp b/source/gameengine/Physics/Sumo/SumoPhysicsController.cpp
index 56caa9236bf..5e77567a95a 100644
--- a/source/gameengine/Physics/Sumo/SumoPhysicsController.cpp
+++ b/source/gameengine/Physics/Sumo/SumoPhysicsController.cpp
@@ -402,7 +402,13 @@ void			SumoPhysicsController::SetSimulatedTime(float)
 	
 void	SumoPhysicsController::WriteMotionStateToDynamics(bool)
 {
-
+	float tmp[4];
+	m_MotionState->getWorldPosition(tmp[0], tmp[1], tmp[2]);
+	MT_Point3 pos(tmp);
+	m_sumoObj->setPosition(pos);
+	m_MotionState->getWorldOrientation(tmp[0], tmp[1], tmp[2], tmp[3]);
+	MT_Quaternion quat(tmp);
+	m_sumoObj->setOrientation(quat);
 }
 // this is the actual callback from sumo, and the position/orientation
 //is written to the scenegraph, using the motionstate abstraction
@@ -493,3 +499,70 @@ float SumoPhysicsController::GetRadius() const
 	return 0.f;
 
 }
+
+///////////////////////////////////////////////////////////
+///A small utility class, SumoDefaultMotionState
+///
+///////////////////////////////////////////////////////////
+
+SumoDefaultMotionState::SumoDefaultMotionState()
+{
+	m_worldTransform.setIdentity();
+	m_localScaling.setValue(1.f,1.f,1.f);
+}
+
+
+SumoDefaultMotionState::~SumoDefaultMotionState()
+{
+
+}
+
+void	SumoDefaultMotionState::getWorldPosition(float& posX,float& posY,float& posZ)
+{
+	posX = m_worldTransform.getOrigin().x();
+	posY = m_worldTransform.getOrigin().y();
+	posZ = m_worldTransform.getOrigin().z();
+}
+
+void	SumoDefaultMotionState::getWorldScaling(float& scaleX,float& scaleY,float& scaleZ)
+{
+	scaleX = m_localScaling.x();
+	scaleY = m_localScaling.y();
+	scaleZ = m_localScaling.z();
+}
+
+void	SumoDefaultMotionState::getWorldOrientation(float& quatIma0,float& quatIma1,float& quatIma2,float& quatReal)
+{
+	MT_Quaternion quat = m_worldTransform.getRotation();
+	quatIma0 = quat.x();
+	quatIma1 = quat.y();
+	quatIma2 = quat.z();
+	quatReal = quat.w();
+}
+		
+void	SumoDefaultMotionState::getWorldOrientation(float* ori)
+{
+	m_worldTransform.getBasis().getValue(ori);
+}
+
+void	SumoDefaultMotionState::setWorldOrientation(const float* ori)
+{
+	m_worldTransform.getBasis().setValue(ori);
+}
+void	SumoDefaultMotionState::setWorldPosition(float posX,float posY,float posZ)
+{
+	MT_Point3 pos(posX,posY,posZ);
+	m_worldTransform.setOrigin( pos );
+}
+
+void	SumoDefaultMotionState::setWorldOrientation(float quatIma0,float quatIma1,float quatIma2,float quatReal)
+{
+	MT_Quaternion orn(quatIma0,quatIma1,quatIma2,quatReal);
+	m_worldTransform.setRotation( orn );
+}
+		
+void	SumoDefaultMotionState::calculateWorldTransformations()
+{
+
+}
+
diff --git a/source/gameengine/Physics/Sumo/SumoPhysicsController.h b/source/gameengine/Physics/Sumo/SumoPhysicsController.h
index adf29649f18..25d6d68f3b8 100644
--- a/source/gameengine/Physics/Sumo/SumoPhysicsController.h
+++ b/source/gameengine/Physics/Sumo/SumoPhysicsController.h
@@ -30,6 +30,7 @@
 #define __SUMO_PHYSICSCONTROLLER_H
 
 #include "PHY_IPhysicsController.h"
+#include "PHY_IMotionState.h"
 #include "SM_Scene.h"
 #include "SM_Callback.h"
 
@@ -188,5 +189,30 @@ private:
 	
 };
 
+///SumoDefaultMotionState implements standard motionstate, using btTransform
+class	SumoDefaultMotionState : public PHY_IMotionState
+
+{
+	public:
+		SumoDefaultMotionState();
+
+		virtual ~SumoDefaultMotionState();
+
+		virtual void	getWorldPosition(float& posX,float& posY,float& posZ);
+		virtual void	getWorldScaling(float& scaleX,float& scaleY,float& scaleZ);
+		virtual void	getWorldOrientation(float& quatIma0,float& quatIma1,float& quatIma2,float& quatReal);
+		
+		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();
+		
+		MT_Transform	m_worldTransform;
+		MT_Vector3		m_localScaling;
+
+};
+
 #endif //__SUMO_PHYSICSCONTROLLER_H
 
diff --git a/source/gameengine/Physics/Sumo/SumoPhysicsEnvironment.cpp b/source/gameengine/Physics/Sumo/SumoPhysicsEnvironment.cpp
index b4daf0a3f80..941a41b1396 100644
--- a/source/gameengine/Physics/Sumo/SumoPhysicsEnvironment.cpp
+++ b/source/gameengine/Physics/Sumo/SumoPhysicsEnvironment.cpp
@@ -244,8 +244,8 @@ PHY_IPhysicsController*	SumoPhysicsEnvironment::CreateSphereController(float rad
 	//testing
 	MT_Quaternion rotquatje(MT_Vector3(0,0,1),MT_radians(90));		
 	ob->setOrientation(rotquatje);
-
-	PHY_IPhysicsController* ctrl = new SumoPhysicsController(m_sumoScene,ob,0,false);
+	PHY_IMotionState* motionState = new SumoDefaultMotionState();
+	PHY_IPhysicsController* ctrl = new SumoPhysicsController(m_sumoScene,ob,motionState,false);
 	ctrl->SetMargin(radius);
 	return ctrl;
 }
@@ -256,8 +256,9 @@ PHY_IPhysicsController* SumoPhysicsEnvironment::CreateConeController(float coner
 	ob->setPosition(MT_Point3(0.f,0.f,0.f));
 	MT_Quaternion rotquatje(MT_Vector3(0,0,1),MT_radians(90));		
 	ob->setOrientation(rotquatje);
+	PHY_IMotionState* motionState = new SumoDefaultMotionState();
 
-	PHY_IPhysicsController* ctrl = new SumoPhysicsController(m_sumoScene,ob,0,false);
+	PHY_IPhysicsController* ctrl = new SumoPhysicsController(m_sumoScene,ob,motionState,false);
 
 	return ctrl;
 }