added support for 'Ghost' object and collision sensor (preliminary)

4 files changed, 153 insertions, 9 deletions

diff --git a/source/gameengine/Physics/Bullet/CcdPhysicsController.cpp b/source/gameengine/Physics/Bullet/CcdPhysicsController.cpp
index 6b892655300..57f29575569 100644
--- a/source/gameengine/Physics/Bullet/CcdPhysicsController.cpp
+++ b/source/gameengine/Physics/Bullet/CcdPhysicsController.cpp
@@ -73,6 +73,9 @@ void CcdPhysicsController::CreateRigidbody()
 	//
 	
 	m_body->setMassProps(m_cci.m_mass, m_cci.m_localInertiaTensor * m_cci.m_inertiaFactor);
+	//setMassProps this also sets collisionFlags
+	m_body->m_collisionFlags = m_cci.m_collisionFlags;
+	
 	m_body->setGravity( m_cci.m_gravity);
 	m_body->setDamping(m_cci.m_linearDamping, m_cci.m_angularDamping);
 	m_body->setCenterOfMassTransform( trans );
@@ -93,9 +96,9 @@ CcdPhysicsController::~CcdPhysicsController()
 		*/
 bool		CcdPhysicsController::SynchronizeMotionStates(float time)
 {
-	//don't sync non-dynamic...
+	//sync non-static to motionstate, and static from motionstate (todo: add kinematic etc.)
 
-	if (m_body->getInvMass() != 0.f)
+	if (!m_body->IsStatic())
 	{
 		const SimdVector3& worldPos = m_body->getCenterOfMassPosition();
 		m_MotionState->setWorldPosition(worldPos[0],worldPos[1],worldPos[2]);
@@ -383,6 +386,14 @@ void		CcdPhysicsController::getReactionForce(float& forceX,float& forceY,float&
 		// dyna's that are rigidbody are free in orientation, dyna's with non-rigidbody are restricted 
 void		CcdPhysicsController::setRigidBody(bool rigid)
 {
+	if (!rigid)
+	{
+		//fake it for now
+		SimdVector3 inertia = m_body->getInvInertiaDiagLocal();
+		inertia[1] = 0.f;
+		m_body->setInvInertiaDiagLocal(inertia);
+		m_body->updateInertiaTensor();
+	}
 }
 
 		// clientinfo for raycasts for example
diff --git a/source/gameengine/Physics/Bullet/CcdPhysicsController.h b/source/gameengine/Physics/Bullet/CcdPhysicsController.h
index 04d34fb1200..2c5e01dd4b0 100644
--- a/source/gameengine/Physics/Bullet/CcdPhysicsController.h
+++ b/source/gameengine/Physics/Bullet/CcdPhysicsController.h
@@ -34,7 +34,8 @@ struct CcdConstructionInfo
 		m_MotionState(0),
 		m_physicsEnv(0),
 		m_inertiaFactor(1.f),
-		m_scaling(1.f,1.f,1.f)
+		m_scaling(1.f,1.f,1.f),
+		m_collisionFlags(0)
 	{
 	}
 
@@ -46,6 +47,7 @@ struct CcdConstructionInfo
 	SimdScalar	m_friction;
 	SimdScalar	m_linearDamping;
 	SimdScalar	m_angularDamping;
+	int			m_collisionFlags;
 
 	CollisionShape*			m_collisionShape;
 	class	PHY_IMotionState*			m_MotionState;
diff --git a/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.cpp b/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.cpp
index ff0880b5c2e..7f9bbd62ceb 100644
--- a/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.cpp
+++ b/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.cpp
@@ -308,6 +308,10 @@ m_profileTimings(0),
 m_enableSatCollisionDetection(false)
 {
 
+	for (int i=0;i<PHY_NUM_RESPONSE;i++)
+	{
+		m_triggerCallbacks[i] = 0;
+	}
 	if (!dispatcher)
 		dispatcher = new CollisionDispatcher();
 
@@ -338,6 +342,9 @@ m_enableSatCollisionDetection(false)
 void	CcdPhysicsEnvironment::addCcdPhysicsController(CcdPhysicsController* ctrl)
 {
 	RigidBody* body = ctrl->GetRigidBody();
+	
+	//this m_userPointer is just used for triggers, see CallbackTriggers
+	body->m_userPointer = ctrl;
 
 	body->setGravity( m_gravity );
 	m_controllers.push_back(ctrl);
@@ -448,6 +455,19 @@ void	CcdPhysicsEnvironment::removeCcdPhysicsController(CcdPhysicsController* ctr
 			m_controllers.pop_back();
 		}
 	}
+
+	//remove it from the triggers
+	{
+		std::vector<CcdPhysicsController*>::iterator i =
+			std::find(m_triggerControllers.begin(), m_triggerControllers.end(), ctrl);
+		if (!(i == m_triggerControllers.end()))
+		{
+			std::swap(*i, m_triggerControllers.back());
+			m_triggerControllers.pop_back();
+		}
+	}
+	
+
 }
 
 
@@ -694,6 +714,16 @@ bool	CcdPhysicsEnvironment::proceedDeltaTimeOneStep(float timeStep)
 
 #ifdef USE_PROFILE
 	Profiler::endBlock("BuildAndProcessIslands");
+
+	Profiler::beginBlock("CallbackTriggers");
+#endif //USE_PROFILE
+
+	CallbackTriggers();
+
+#ifdef USE_PROFILE
+	Profiler::endBlock("CallbackTriggers");
+
+
 	Profiler::beginBlock("proceedToTransform");
 
 #endif //USE_PROFILE
@@ -1430,6 +1460,101 @@ TypedConstraint*	CcdPhysicsEnvironment::getConstraintById(int constraintId)
 }
 
 
+void CcdPhysicsEnvironment::addSensor(PHY_IPhysicsController* ctrl)
+{
+	printf("addSensor\n");
+}
+void CcdPhysicsEnvironment::removeSensor(PHY_IPhysicsController* ctrl)
+{
+	printf("removeSensor\n");
+}
+void CcdPhysicsEnvironment::addTouchCallback(int response_class, PHY_ResponseCallback callback, void *user)
+{
+	printf("addTouchCallback\n(response class = %i)\n",response_class);
+
+	//map PHY_ convention into SM_ convention
+	switch (response_class)
+	{
+	case	PHY_FH_RESPONSE:
+		printf("PHY_FH_RESPONSE\n");
+		break;
+	case PHY_SENSOR_RESPONSE:
+		printf("PHY_SENSOR_RESPONSE\n");
+		break;
+	case PHY_CAMERA_RESPONSE:
+		printf("PHY_CAMERA_RESPONSE\n");
+		break;
+	case PHY_OBJECT_RESPONSE:
+		printf("PHY_OBJECT_RESPONSE\n");
+		break;
+	case PHY_STATIC_RESPONSE:
+		printf("PHY_STATIC_RESPONSE\n");
+		break;
+	default:
+		assert(0);
+		return;
+	}
+
+	m_triggerCallbacks[response_class] = callback;
+	m_triggerCallbacksUserPtrs[response_class] = user;
+
+}
+void CcdPhysicsEnvironment::requestCollisionCallback(PHY_IPhysicsController* ctrl)
+{
+	CcdPhysicsController* ccdCtrl = static_cast<CcdPhysicsController*>(ctrl);
+
+	printf("requestCollisionCallback\n");
+	m_triggerControllers.push_back(ccdCtrl);
+}
+
+
+void	CcdPhysicsEnvironment::CallbackTriggers()
+{
+	CcdPhysicsController* ctrl0=0,*ctrl1=0;
+
+	if (m_triggerCallbacks[PHY_OBJECT_RESPONSE])
+	{
+
+		int numManifolds = m_collisionWorld->GetDispatcher()->GetNumManifolds();
+		for (int i=0;i<numManifolds;i++)
+		{
+			PersistentManifold* manifold = m_collisionWorld->GetDispatcher()->GetManifoldByIndexInternal(i);
+			int numContacts = manifold->GetNumContacts();
+			if (numContacts)
+			{
+				RigidBody* obj0 = static_cast<RigidBody* >(manifold->GetBody0());
+				RigidBody* obj1 = static_cast<RigidBody* >(manifold->GetBody1());
+				
+				//m_userPointer is set in 'addPhysicsController
+				CcdPhysicsController* ctrl0 = static_cast<CcdPhysicsController*>(obj0->m_userPointer);
+				CcdPhysicsController* ctrl1 = static_cast<CcdPhysicsController*>(obj1->m_userPointer);
+
+				std::vector<CcdPhysicsController*>::iterator i =
+				std::find(m_triggerControllers.begin(), m_triggerControllers.end(), ctrl0);
+				if (i == m_triggerControllers.end())
+				{
+					i = std::find(m_triggerControllers.begin(), m_triggerControllers.end(), ctrl1);
+				}
+
+				if (!(i == m_triggerControllers.end()))
+				{
+					m_triggerCallbacks[PHY_OBJECT_RESPONSE](m_triggerCallbacksUserPtrs[PHY_OBJECT_RESPONSE],
+						ctrl0,ctrl1,0);
+				}
+			}
+		}
+
+		
+
+	}
+	//walk over all overlapping pairs, and if
+}
+
+
+
+
+
+
 #ifdef NEW_BULLET_VEHICLE_SUPPORT
 
 //complex constraint for vehicles
diff --git a/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.h b/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.h
index 116e3d984df..2a4396d8c78 100644
--- a/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.h
+++ b/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.h
@@ -90,6 +90,10 @@ class CcdPhysicsEnvironment : public PHY_IPhysicsEnvironment
 			float axisX,float axisY,float axisZ);
 	    virtual void		removeConstraint(int	constraintid);
 
+
+		virtual void	CallbackTriggers();
+
+
 #ifdef NEW_BULLET_VEHICLE_SUPPORT
 		//complex constraint for vehicles
 		virtual PHY_IVehicle*	getVehicleConstraint(int constraintId);
@@ -107,11 +111,10 @@ class CcdPhysicsEnvironment : public PHY_IPhysicsEnvironment
 
 
 		//Methods for gamelogic collision/physics callbacks
-		//todo:
-		virtual void addSensor(PHY_IPhysicsController* ctrl) {};
-		virtual void removeSensor(PHY_IPhysicsController* ctrl){};
-		virtual void addTouchCallback(int response_class, PHY_ResponseCallback callback, void *user){};
-		virtual void requestCollisionCallback(PHY_IPhysicsController* ctrl){};
+		virtual void addSensor(PHY_IPhysicsController* ctrl);
+		virtual void removeSensor(PHY_IPhysicsController* ctrl);
+		virtual void addTouchCallback(int response_class, PHY_ResponseCallback callback, void *user);
+		virtual void requestCollisionCallback(PHY_IPhysicsController* ctrl);
 		virtual PHY_IPhysicsController*	CreateSphereController(float radius,const PHY__Vector3& position) {return 0;};
 		virtual PHY_IPhysicsController* CreateConeController(float coneradius,float coneheight){ return 0;};
 	
@@ -160,9 +163,12 @@ class CcdPhysicsEnvironment : public PHY_IPhysicsEnvironment
 		void	SyncMotionStates(float timeStep);
 		
 		std::vector<CcdPhysicsController*> m_controllers;
-
 		
+		std::vector<CcdPhysicsController*> m_triggerControllers;
 
+		PHY_ResponseCallback	m_triggerCallbacks[PHY_NUM_RESPONSE];
+		void*			m_triggerCallbacksUserPtrs[PHY_NUM_RESPONSE];
+		
 		std::vector<WrapperVehicle*>	m_wrapperVehicles;
 
 		class CollisionWorld*	m_collisionWorld;