Bullet physics: fixed some accuracy problem (square length should be compared to square epsilons), and more collision sensor work + deactivation issues

2 files changed, 48 insertions, 27 deletions

diff --git a/source/gameengine/Physics/Bullet/CcdPhysicsController.cpp b/source/gameengine/Physics/Bullet/CcdPhysicsController.cpp
index 57f29575569..cbe7961773d 100644
--- a/source/gameengine/Physics/Bullet/CcdPhysicsController.cpp
+++ b/source/gameengine/Physics/Bullet/CcdPhysicsController.cpp
@@ -195,16 +195,21 @@ void		CcdPhysicsController::PostProcessReplica(class PHY_IMotionState* motionsta
 		// kinematic methods
 void		CcdPhysicsController::RelativeTranslate(float dlocX,float dlocY,float dlocZ,bool local)
 {
-	SimdVector3 dloc(dlocX,dlocY,dlocZ);
-	SimdTransform xform = m_body->getCenterOfMassTransform();
-
-	if (local)
+	if (m_body)
 	{
-		dloc = xform.getBasis()*dloc;
-	}
+		m_body->activate();
+
+		SimdVector3 dloc(dlocX,dlocY,dlocZ);
+		SimdTransform xform = m_body->getCenterOfMassTransform();
+
+		if (local)
+		{
+			dloc = xform.getBasis()*dloc;
+		}
 
-	xform.setOrigin(xform.getOrigin() + dloc);
-	this->m_body->setCenterOfMassTransform(xform);
+		xform.setOrigin(xform.getOrigin() + dloc);
+		m_body->setCenterOfMassTransform(xform);
+	}
 
 }
 
@@ -212,6 +217,8 @@ void		CcdPhysicsController::RelativeRotate(const float rotval[9],bool local)
 {
 	if (m_body )
 	{
+		m_body->activate();
+
 		SimdMatrix3x3 drotmat(	rotval[0],rotval[1],rotval[2],
 								rotval[4],rotval[5],rotval[6],
 								rotval[8],rotval[9],rotval[10]);
@@ -319,34 +326,47 @@ void		CcdPhysicsController::ApplyForce(float forceX,float forceY,float forceZ,bo
 void		CcdPhysicsController::SetAngularVelocity(float ang_velX,float ang_velY,float ang_velZ,bool local)
 {
 	SimdVector3 angvel(ang_velX,ang_velY,ang_velZ);
-	SimdTransform xform = m_body->getCenterOfMassTransform();
-	if (local)
+	if (angvel.length2() > (SIMD_EPSILON*SIMD_EPSILON))
 	{
-		angvel	= xform.getBasis()*angvel;
-	}
+		SimdTransform xform = m_body->getCenterOfMassTransform();
+		if (local)
+		{
+			angvel	= xform.getBasis()*angvel;
+		}
 
-	m_body->setAngularVelocity(angvel);
+		m_body->setAngularVelocity(angvel);
+	}
 
 }
 void		CcdPhysicsController::SetLinearVelocity(float lin_velX,float lin_velY,float lin_velZ,bool local)
 {
+
 	SimdVector3 linVel(lin_velX,lin_velY,lin_velZ);
-	SimdTransform xform = m_body->getCenterOfMassTransform();
-	if (local)
+	if (linVel.length2() > (SIMD_EPSILON*SIMD_EPSILON))
 	{
-		linVel	= xform.getBasis()*linVel;
+		m_body->activate();
+		SimdTransform xform = m_body->getCenterOfMassTransform();
+		if (local)
+		{
+			linVel	= xform.getBasis()*linVel;
+		}
+		m_body->setLinearVelocity(linVel);
 	}
-	m_body->setLinearVelocity(linVel);
 }
 void		CcdPhysicsController::applyImpulse(float attachX,float attachY,float attachZ, float impulseX,float impulseY,float impulseZ)
 {
-	
 	SimdVector3 impulse(impulseX,impulseY,impulseZ);
-	SimdVector3 pos(attachX,attachY,attachZ);
 
-	m_body->activate();
+	if (impulse.length2() > (SIMD_EPSILON*SIMD_EPSILON))
+	{
+		m_body->activate();
+		
+		SimdVector3 pos(attachX,attachY,attachZ);
+
+		m_body->activate();
 
-	m_body->applyImpulse(impulse,pos);
+		m_body->applyImpulse(impulse,pos);
+	}
 
 }
 void		CcdPhysicsController::SetActive(bool active)
diff --git a/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.cpp b/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.cpp
index 7f9bbd62ceb..cf9c4157475 100644
--- a/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.cpp
+++ b/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.cpp
@@ -1462,15 +1462,15 @@ TypedConstraint*	CcdPhysicsEnvironment::getConstraintById(int constraintId)
 
 void CcdPhysicsEnvironment::addSensor(PHY_IPhysicsController* ctrl)
 {
-	printf("addSensor\n");
+	//printf("addSensor\n");
 }
 void CcdPhysicsEnvironment::removeSensor(PHY_IPhysicsController* ctrl)
 {
-	printf("removeSensor\n");
+	//printf("removeSensor\n");
 }
 void CcdPhysicsEnvironment::addTouchCallback(int response_class, PHY_ResponseCallback callback, void *user)
 {
-	printf("addTouchCallback\n(response class = %i)\n",response_class);
+/*	printf("addTouchCallback\n(response class = %i)\n",response_class);
 
 	//map PHY_ convention into SM_ convention
 	switch (response_class)
@@ -1494,6 +1494,7 @@ void CcdPhysicsEnvironment::addTouchCallback(int response_class, PHY_ResponseCal
 		assert(0);
 		return;
 	}
+*/
 
 	m_triggerCallbacks[response_class] = callback;
 	m_triggerCallbacksUserPtrs[response_class] = user;
@@ -1503,7 +1504,7 @@ void CcdPhysicsEnvironment::requestCollisionCallback(PHY_IPhysicsController* ctr
 {
 	CcdPhysicsController* ccdCtrl = static_cast<CcdPhysicsController*>(ctrl);
 
-	printf("requestCollisionCallback\n");
+	//printf("requestCollisionCallback\n");
 	m_triggerControllers.push_back(ccdCtrl);
 }
 
@@ -1514,7 +1515,7 @@ void	CcdPhysicsEnvironment::CallbackTriggers()
 
 	if (m_triggerCallbacks[PHY_OBJECT_RESPONSE])
 	{
-
+		//walk over all overlapping pairs, and if one of the involved bodies is registered for trigger callback, perform callback
 		int numManifolds = m_collisionWorld->GetDispatcher()->GetNumManifolds();
 		for (int i=0;i<numManifolds;i++)
 		{
@@ -1547,7 +1548,7 @@ void	CcdPhysicsEnvironment::CallbackTriggers()
 		
 
 	}
-	//walk over all overlapping pairs, and if
+
 }