BGE crash when using angV & linV actuator on static objects

The error was causing by the KINEMATIC flag not set automatically when the linear or angular velocity was set on static objects. Note that these actuators still won't work on static objects: the crash is fixed but not the actuator; linV and angV only work on dynamic objects. Fixing the linV and angV actuators on static object requires a bit more reflexion. For the time being, use dRot and dLoc on static objects.
Cleaned the code a bit: added systematic check on the physic controller presence before taking action.

1 files changed, 74 insertions, 52 deletions

diff --git a/source/gameengine/Physics/Bullet/CcdPhysicsController.cpp b/source/gameengine/Physics/Bullet/CcdPhysicsController.cpp
index 963dda10873..fe9aa4419e4 100644
--- a/source/gameengine/Physics/Bullet/CcdPhysicsController.cpp
+++ b/source/gameengine/Physics/Bullet/CcdPhysicsController.cpp
@@ -282,7 +282,7 @@ void		CcdPhysicsController::RelativeTranslate(float dlocX,float dlocY,float dloc
 
 void		CcdPhysicsController::RelativeRotate(const float rotval[9],bool local)
 {
-	if (m_body )
+	if (m_body)
 	{
 		m_body->activate(true);
 		if (m_body->isStaticObject())
@@ -326,33 +326,39 @@ void		CcdPhysicsController::getOrientation(float &quatImag0,float &quatImag1,flo
 }
 void		CcdPhysicsController::setOrientation(float quatImag0,float quatImag1,float quatImag2,float quatReal)
 {
-	m_body->activate(true);
-	if (m_body->isStaticObject())
+	if (m_body)
 	{
-		m_body->setCollisionFlags(m_body->getCollisionFlags() | btCollisionObject::CF_KINEMATIC_OBJECT);
-	}
+		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));
-	m_body->setCenterOfMassTransform(xform);
-	m_bulletMotionState->setWorldTransform(xform);
+		m_MotionState->setWorldOrientation(quatImag0,quatImag1,quatImag2,quatReal);
+		btTransform xform  = m_body->getCenterOfMassTransform();
+		xform.setRotation(btQuaternion(quatImag0,quatImag1,quatImag2,quatReal));
+		m_body->setCenterOfMassTransform(xform);
+		m_bulletMotionState->setWorldTransform(xform);
+	}
 
 }
 
 void		CcdPhysicsController::setPosition(float posX,float posY,float posZ)
 {
-	m_body->activate(true);
-	if (m_body->isStaticObject())
+	if (m_body)
 	{
-		m_body->setCollisionFlags(m_body->getCollisionFlags() | btCollisionObject::CF_KINEMATIC_OBJECT);
+		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));
+		m_body->setCenterOfMassTransform(xform);
+		m_bulletMotionState->setWorldTransform(xform);
 	}
-	
-	m_MotionState->setWorldPosition(posX,posY,posZ);
-	btTransform xform  = m_body->getCenterOfMassTransform();
-	xform.setOrigin(btVector3(posX,posY,posZ));
-	m_body->setCenterOfMassTransform(xform);
-	m_bulletMotionState->setWorldTransform(xform);
 
 
 }
@@ -396,49 +402,59 @@ void		CcdPhysicsController::ApplyTorque(float torqueX,float torqueY,float torque
 {
 	btVector3 torque(torqueX,torqueY,torqueZ);
 	btTransform xform = m_body->getCenterOfMassTransform();
-	if (torque.length2() > (SIMD_EPSILON*SIMD_EPSILON))
+	if (m_body && torque.length2() > (SIMD_EPSILON*SIMD_EPSILON))
 	{
 		m_body->activate();
+		if (m_body->isStaticObject())
+		{
+			m_body->setCollisionFlags(m_body->getCollisionFlags() | btCollisionObject::CF_KINEMATIC_OBJECT);
+		}
+		if (local)
+		{
+			torque	= xform.getBasis()*torque;
+		}
+		m_body->applyTorque(torque);
 	}
-	if (local)
-	{
-		torque	= xform.getBasis()*torque;
-	}
-	m_body->applyTorque(torque);
 }
 
 void		CcdPhysicsController::ApplyForce(float forceX,float forceY,float forceZ,bool local)
 {
 	btVector3 force(forceX,forceY,forceZ);
 	
-	if (force.length2() > (SIMD_EPSILON*SIMD_EPSILON))
+	if (m_body && force.length2() > (SIMD_EPSILON*SIMD_EPSILON))
 	{
 		m_body->activate();
+		if (m_body->isStaticObject())
+		{
+			m_body->setCollisionFlags(m_body->getCollisionFlags() | btCollisionObject::CF_KINEMATIC_OBJECT);
+		}
+		{
+			btTransform xform = m_body->getCenterOfMassTransform();
+			if (local)
+			{	
+				force	= xform.getBasis()*force;
+			}
+		}
+		m_body->applyCentralForce(force);
 	}
-
-
-	btTransform xform = m_body->getCenterOfMassTransform();
-	if (local)
-	{
-		force	= xform.getBasis()*force;
-	}
-	m_body->applyCentralForce(force);
 }
 void		CcdPhysicsController::SetAngularVelocity(float ang_velX,float ang_velY,float ang_velZ,bool local)
 {
 	btVector3 angvel(ang_velX,ang_velY,ang_velZ);
-	if (angvel.length2() > (SIMD_EPSILON*SIMD_EPSILON))
+	if (m_body && angvel.length2() > (SIMD_EPSILON*SIMD_EPSILON))
 	{
 		m_body->activate(true);
-	}
-
-	{
-		btTransform xform = m_body->getCenterOfMassTransform();
-		if (local)
+		if (m_body->isStaticObject())
 		{
-			angvel	= xform.getBasis()*angvel;
+			m_body->setCollisionFlags(m_body->getCollisionFlags() | btCollisionObject::CF_KINEMATIC_OBJECT);
+		}
+		{
+			btTransform xform = m_body->getCenterOfMassTransform();
+			if (local)
+			{
+				angvel	= xform.getBasis()*angvel;
+			}
 		}
-
 		m_body->setAngularVelocity(angvel);
 	}
 
@@ -447,16 +463,20 @@ 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))
+	if (m_body && linVel.length2() > (SIMD_EPSILON*SIMD_EPSILON))
 	{
 		m_body->activate(true);
-	}
-	
-	{
-		btTransform xform = m_body->getCenterOfMassTransform();
-		if (local)
+		if (m_body->isStaticObject())
 		{
-			linVel	= xform.getBasis()*linVel;
+			m_body->setCollisionFlags(m_body->getCollisionFlags() | btCollisionObject::CF_KINEMATIC_OBJECT);
+		}
+
+		{
+			btTransform xform = m_body->getCenterOfMassTransform();
+			if (local)
+			{
+				linVel	= xform.getBasis()*linVel;
+			}
 		}
 		m_body->setLinearVelocity(linVel);
 	}
@@ -465,14 +485,16 @@ void		CcdPhysicsController::applyImpulse(float attachX,float attachY,float attac
 {
 	btVector3 impulse(impulseX,impulseY,impulseZ);
 
-	if (impulse.length2() > (SIMD_EPSILON*SIMD_EPSILON))
+	if (m_body && impulse.length2() > (SIMD_EPSILON*SIMD_EPSILON))
 	{
 		m_body->activate();
+		if (m_body->isStaticObject())
+		{
+			m_body->setCollisionFlags(m_body->getCollisionFlags() | btCollisionObject::CF_KINEMATIC_OBJECT);
+		}
 		
 		btVector3 pos(attachX,attachY,attachZ);
 
-		m_body->activate();
-
 		m_body->applyImpulse(impulse,pos);
 	}