more Bullet 2.x upgrading. fair amount of functionality is now restored, not all yet.

3 files changed, 56 insertions, 16 deletions

diff --git a/source/gameengine/Physics/Bullet/CcdPhysicsController.cpp b/source/gameengine/Physics/Bullet/CcdPhysicsController.cpp
index e542c336559..31cea0be9e1 100644
--- a/source/gameengine/Physics/Bullet/CcdPhysicsController.cpp
+++ b/source/gameengine/Physics/Bullet/CcdPhysicsController.cpp
@@ -165,7 +165,7 @@ bool		CcdPhysicsController::SynchronizeMotionStates(float time)
 		btVector3 worldPos;
 		btQuaternion worldquat;
 
-		m_MotionState->getWorldPosition(worldPos[0],worldPos[1],worldPos[2]);
+/*		m_MotionState->getWorldPosition(worldPos[0],worldPos[1],worldPos[2]);
 		m_MotionState->getWorldOrientation(worldquat[0],worldquat[1],worldquat[2],worldquat[3]);
 		btTransform oldTrans = m_body->getCenterOfMassTransform();
 		btTransform newTrans(worldquat,worldPos);
@@ -174,7 +174,7 @@ bool		CcdPhysicsController::SynchronizeMotionStates(float time)
 		//need to keep track of previous position for friction effects...
 		
 		m_MotionState->calculateWorldTransformations();
-
+*/
 		float scale[3];
 		m_MotionState->getWorldScaling(scale[0],scale[1],scale[2]);
 		btVector3 scaling(scale[0],scale[1],scale[2]);
@@ -245,7 +245,12 @@ void		CcdPhysicsController::RelativeTranslate(float dlocX,float dlocY,float dloc
 {
 	if (m_body)
 	{
-		m_body->activate();
+		m_body->activate(true);
+		if (m_body->isStaticObject())
+		{
+			m_body->setCollisionFlags(m_body->getCollisionFlags() | btCollisionObject::CF_KINEMATIC_OBJECT);
+		}
+
 
 		btVector3 dloc(dlocX,dlocY,dlocZ);
 		btTransform xform = m_body->getCenterOfMassTransform();
@@ -265,7 +270,11 @@ void		CcdPhysicsController::RelativeRotate(const float rotval[9],bool local)
 {
 	if (m_body )
 	{
-		m_body->activate();
+		m_body->activate(true);
+		if (m_body->isStaticObject())
+		{
+			m_body->setCollisionFlags(m_body->getCollisionFlags() | btCollisionObject::CF_KINEMATIC_OBJECT);
+		}
 
 		btMatrix3x3 drotmat(	rotval[0],rotval[1],rotval[2],
 								rotval[4],rotval[5],rotval[6],
@@ -303,7 +312,12 @@ void		CcdPhysicsController::getOrientation(float &quatImag0,float &quatImag1,flo
 }
 void		CcdPhysicsController::setOrientation(float quatImag0,float quatImag1,float quatImag2,float quatReal)
 {
-	m_body->activate();
+	m_body->activate(true);
+	if (m_body->isStaticObject())
+	{
+		m_body->setCollisionFlags(m_body->getCollisionFlags() | btCollisionObject::CF_KINEMATIC_OBJECT);
+	}
+
 	m_MotionState->setWorldOrientation(quatImag0,quatImag1,quatImag2,quatReal);
 	btTransform xform  = m_body->getCenterOfMassTransform();
 	xform.setRotation(btQuaternion(quatImag0,quatImag1,quatImag2,quatReal));
@@ -313,7 +327,11 @@ void		CcdPhysicsController::setOrientation(float quatImag0,float quatImag1,float
 
 void		CcdPhysicsController::setPosition(float posX,float posY,float posZ)
 {
-	m_body->activate();
+	m_body->activate(true);
+	if (m_body->isStaticObject())
+	{
+		m_body->setCollisionFlags(m_body->getCollisionFlags() | btCollisionObject::CF_KINEMATIC_OBJECT);
+	}
 	m_MotionState->setWorldPosition(posX,posY,posZ);
 	btTransform xform  = m_body->getCenterOfMassTransform();
 	xform.setOrigin(btVector3(posX,posY,posZ));
@@ -376,7 +394,7 @@ void		CcdPhysicsController::SetAngularVelocity(float ang_velX,float ang_velY,flo
 	btVector3 angvel(ang_velX,ang_velY,ang_velZ);
 	if (angvel.length2() > (SIMD_EPSILON*SIMD_EPSILON))
 	{
-		m_body->activate();
+		m_body->activate(true);
 	}
 
 	{
@@ -396,7 +414,7 @@ void		CcdPhysicsController::SetLinearVelocity(float lin_velX,float lin_velY,floa
 	btVector3 linVel(lin_velX,lin_velY,lin_velZ);
 	if (linVel.length2() > (SIMD_EPSILON*SIMD_EPSILON))
 	{
-		m_body->activate();
+		m_body->activate(true);
 	}
 	
 	{
diff --git a/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.cpp b/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.cpp
index 9533adfa3d5..c9cd66bda8b 100644
--- a/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.cpp
+++ b/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.cpp
@@ -251,6 +251,12 @@ public:
 #endif //NEW_BULLET_VEHICLE_SUPPORT
 
 
+void CcdPhysicsEnvironment::setDebugDrawer(btIDebugDraw* debugDrawer)
+{
+	if (debugDrawer && m_dynamicsWorld)
+		m_dynamicsWorld->setDebugDrawer(debugDrawer);
+	m_debugDrawer = debugDrawer;
+}
 
 static void DrawAabb(btIDebugDraw* debugDrawer,const btVector3& from,const btVector3& to,const btVector3& color)
 {
@@ -321,7 +327,7 @@ m_enableSatCollisionDetection(false)
 
 	setSolverType(1);//issues with quickstep and memory allocations
 
-	m_dynamicsWorld = new btDiscreteDynamicsWorld(dispatcher,pairCache);
+	m_dynamicsWorld = new btDiscreteDynamicsWorld(dispatcher,pairCache,new btSequentialImpulseConstraintSolver2());
 	m_debugDrawer = 0;
 	m_gravity = btVector3(0.f,-10.f,0.f);
 	m_dynamicsWorld->setGravity(m_gravity);
@@ -340,6 +346,12 @@ void	CcdPhysicsEnvironment::addCcdPhysicsController(CcdPhysicsController* ctrl)
 	m_controllers.push_back(ctrl);
 
 	m_dynamicsWorld->addRigidBody(body);
+	if (body->isStaticOrKinematicObject())
+	{
+		body->setActivationState(ISLAND_SLEEPING);
+	}
+
+
 	//CollisionObject(body,ctrl->GetCollisionFilterGroup(),ctrl->GetCollisionFilterMask());
 
 	assert(body->getBroadphaseHandle());
@@ -438,15 +450,28 @@ void	CcdPhysicsEnvironment::beginFrame()
 bool	CcdPhysicsEnvironment::proceedDeltaTime(double curTime,float timeStep)
 {
 
-	int numCtrl = GetNumControllers();
-	for (int i=0;i<numCtrl;i++)
+	int i,numCtrl = GetNumControllers();
+	for (i=0;i<numCtrl;i++)
 	{
 		CcdPhysicsController* ctrl = GetPhysicsController(i);
 		ctrl->SynchronizeMotionStates(timeStep);
 	}
 
-	m_dynamicsWorld->stepSimulation(timeStep);
+	m_dynamicsWorld->stepSimulation(timeStep,5);//5);
 	
+	numCtrl = GetNumControllers();
+	for (i=0;i<numCtrl;i++)
+	{
+		CcdPhysicsController* ctrl = GetPhysicsController(i);
+		ctrl->SynchronizeMotionStates(timeStep);
+	}
+
+	for (i=0;i<m_wrapperVehicles.size();i++)
+	{
+		WrapperVehicle* veh = m_wrapperVehicles[i];
+		veh->SyncWheels();
+	}
+
 	return true;
 }
 
diff --git a/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.h b/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.h
index 7911c3d1ed9..05c9e2a6b03 100644
--- a/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.h
+++ b/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.h
@@ -81,10 +81,7 @@ protected:
 
 		/// Perform an integration step of duration 'timeStep'.
 
-		virtual void setDebugDrawer(btIDebugDraw* debugDrawer)
-		{
-			m_debugDrawer = debugDrawer;
-		}
+		virtual void setDebugDrawer(btIDebugDraw* debugDrawer);
 
 		virtual void		setNumIterations(int numIter);
 		virtual void		setNumTimeSubSteps(int numTimeSubSteps)