- Added support for kinematic objects (interaction between rigidbodies), deriving linear/angular velocity from previous transform/current transform and deltatime.

- Made another attempt to migrate from Sumo to Bullet: import of older files automatically switch to Bullet, but you can override it, and save the file in 2.42 version. then it stays Sumo physics.

3 files changed, 30 insertions, 7 deletions

diff --git a/source/gameengine/Physics/Bullet/CcdPhysicsController.cpp b/source/gameengine/Physics/Bullet/CcdPhysicsController.cpp
index 79b311bd691..b8ce09729c2 100644
--- a/source/gameengine/Physics/Bullet/CcdPhysicsController.cpp
+++ b/source/gameengine/Physics/Bullet/CcdPhysicsController.cpp
@@ -31,7 +31,7 @@ class BP_Proxy;
 float	gDeactivationTime = 2.f;
 bool	gDisableDeactivation = false;
 
-float gLinearSleepingTreshold = 0.8f;
+float gLinearSleepingTreshold = 0.4f;
 float gAngularSleepingTreshold = 1.0f;
 
 #include "Dynamics/MassProps.h"
@@ -136,7 +136,7 @@ bool		CcdPhysicsController::SynchronizeMotionStates(float time)
 		m_MotionState->getWorldOrientation(worldquat[0],worldquat[1],worldquat[2],worldquat[3]);
 		SimdTransform oldTrans = m_body->getCenterOfMassTransform();
 		SimdTransform newTrans(worldquat,worldPos);
-		
+				
 		m_body->setCenterOfMassTransform(newTrans);
 		//need to keep track of previous position for friction effects...
 		
diff --git a/source/gameengine/Physics/Bullet/CcdPhysicsController.h b/source/gameengine/Physics/Bullet/CcdPhysicsController.h
index f1933d55137..646b21f285e 100644
--- a/source/gameengine/Physics/Bullet/CcdPhysicsController.h
+++ b/source/gameengine/Physics/Bullet/CcdPhysicsController.h
@@ -171,6 +171,17 @@ class CcdPhysicsController : public PHY_IPhysicsController
 		void	SetAabb(const SimdVector3& aabbMin,const SimdVector3& aabbMax);
 
 
+		class	PHY_IMotionState*			GetMotionState()
+		{
+			return m_MotionState;
+		}
+
+		const class	PHY_IMotionState*			GetMotionState() const
+		{
+			return m_MotionState;
+		}
+
+
 };
 
 #endif //BULLET2_PHYSICSCONTROLLER_H
diff --git a/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.cpp b/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.cpp
index 9583839a7ae..7afd7bf8fc5 100644
--- a/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.cpp
+++ b/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.cpp
@@ -586,6 +586,7 @@ bool	CcdPhysicsEnvironment::proceedDeltaTimeOneStep(float timeStep)
 		m_scalingPropagated = true;
 	}
 
+
 #ifdef USE_QUICKPROF
 	Profiler::endBlock("SyncMotionStates");
 
@@ -605,9 +606,12 @@ bool	CcdPhysicsEnvironment::proceedDeltaTimeOneStep(float timeStep)
 			RigidBody* body = ctrl->GetRigidBody();
 			if (body->GetActivationState() != ISLAND_SLEEPING)
 			{
-				body->applyForces( timeStep);
-				body->integrateVelocities( timeStep);
-				body->predictIntegratedTransform(timeStep,body->m_nextPredictedWorldTransform);
+				if (!body->IsStatic())
+				{
+					body->applyForces( timeStep);
+					body->integrateVelocities( timeStep);
+					body->predictIntegratedTransform(timeStep,body->m_interpolationWorldTransform);
+				}
 			}
 
 		}
@@ -807,8 +811,15 @@ bool	CcdPhysicsEnvironment::proceedDeltaTimeOneStep(float timeStep)
 					if (body->GetActivationState() != ISLAND_SLEEPING)
 					{
 
-						body->predictIntegratedTransform(timeStep*	toi, predictedTrans);
-						body->proceedToTransform( predictedTrans);
+						if (body->IsStatic())
+						{
+							//to calculate velocities next frame
+							body->saveKinematicState(timeStep);
+						} else
+						{
+							body->predictIntegratedTransform(timeStep*	toi, predictedTrans);
+							body->proceedToTransform( predictedTrans);
+						}
 
 					}
 				}
@@ -893,6 +904,7 @@ bool	CcdPhysicsEnvironment::proceedDeltaTimeOneStep(float timeStep)
 		}
 #endif //NEW_BULLET_VEHICLE_SUPPORT
 	}
+
 	return true;
 }