BGE patch: Optimization of bullet adaptation layer - part 1.

First batch of optimizaton of the bullet adaptation layer in the BGE.
- remove circular motion state update.
- optimization of physic adaptation layer for bullet: bypass
  unecessary conversion of rotation matrix to quaternion and back.
- remove double updates during object replication.

12 files changed, 57 insertions, 21 deletions

diff --git a/source/gameengine/Ketsji/KX_BulletPhysicsController.cpp b/source/gameengine/Ketsji/KX_BulletPhysicsController.cpp
index 1553c4c61c2..c7b2a671f78 100644
--- a/source/gameengine/Ketsji/KX_BulletPhysicsController.cpp
+++ b/source/gameengine/Ketsji/KX_BulletPhysicsController.cpp
@@ -133,9 +133,10 @@ void	KX_BulletPhysicsController::getOrientation(MT_Quaternion& orn)
 	CcdPhysicsController::getOrientation(myorn[0],myorn[1],myorn[2],myorn[3]);
 	orn = MT_Quaternion(myorn[0],myorn[1],myorn[2],myorn[3]);
 }
-void KX_BulletPhysicsController::setOrientation(const MT_Quaternion& orn)
+void KX_BulletPhysicsController::setOrientation(const MT_Matrix3x3& orn)
 {
-	CcdPhysicsController::setOrientation(orn.x(),orn.y(),orn.z(),orn.w());
+	btMatrix3x3 btmat(orn[0][0], orn[0][1], orn[1][2], orn[1][0], orn[1][1], orn[1][2], orn[2][0], orn[2][1], orn[2][2]);
+	CcdPhysicsController::setWorldOrientation(btmat);
 }
 void KX_BulletPhysicsController::setPosition(const MT_Point3& pos)
 {
diff --git a/source/gameengine/Ketsji/KX_BulletPhysicsController.h b/source/gameengine/Ketsji/KX_BulletPhysicsController.h
index 93ee03660db..2efe0474b30 100644
--- a/source/gameengine/Ketsji/KX_BulletPhysicsController.h
+++ b/source/gameengine/Ketsji/KX_BulletPhysicsController.h
@@ -35,7 +35,7 @@ public:
 	virtual void	SetAngularVelocity(const MT_Vector3& ang_vel,bool local);
 	virtual void	SetLinearVelocity(const MT_Vector3& lin_vel,bool local);
 	virtual	void	getOrientation(MT_Quaternion& orn);
-	virtual	void setOrientation(const MT_Quaternion& orn);
+	virtual	void setOrientation(const MT_Matrix3x3& orn);
 	virtual	void setPosition(const MT_Point3& pos);
 	virtual	void setScaling(const MT_Vector3& scaling);
 	virtual	MT_Scalar	GetMass();
diff --git a/source/gameengine/Ketsji/KX_GameObject.cpp b/source/gameengine/Ketsji/KX_GameObject.cpp
index 6d0b7219ed1..d40fa1e2446 100644
--- a/source/gameengine/Ketsji/KX_GameObject.cpp
+++ b/source/gameengine/Ketsji/KX_GameObject.cpp
@@ -744,7 +744,7 @@ void KX_GameObject::NodeSetLocalOrientation(const MT_Matrix3x3& rot)
 	if (m_pPhysicsController1 && (!GetSGNode() || !GetSGNode()->GetSGParent()))
 	{
 		// see note above
-		m_pPhysicsController1->setOrientation(rot.getRotation());
+		m_pPhysicsController1->setOrientation(rot);
 	}
 	if (GetSGNode())
 		GetSGNode()->SetLocalOrientation(rot);
diff --git a/source/gameengine/Ketsji/KX_IPhysicsController.h b/source/gameengine/Ketsji/KX_IPhysicsController.h
index bc4cc185a04..ecfdb8c4275 100644
--- a/source/gameengine/Ketsji/KX_IPhysicsController.h
+++ b/source/gameengine/Ketsji/KX_IPhysicsController.h
@@ -71,7 +71,8 @@ public:
 	virtual void	resolveCombinedVelocities(float linvelX,float linvelY,float linvelZ,float angVelX,float angVelY,float angVelZ) = 0;
 
 	virtual	void	getOrientation(MT_Quaternion& orn)=0;
-	virtual	void setOrientation(const MT_Quaternion& orn)=0;
+	virtual	void setOrientation(const MT_Matrix3x3& orn)=0;
+	//virtual	void setOrientation(const MT_Quaternion& orn)=0;
 	virtual	void setPosition(const MT_Point3& pos)=0;
 	virtual	void setScaling(const MT_Vector3& scaling)=0;
 	virtual	MT_Scalar	GetMass()=0;
diff --git a/source/gameengine/Ketsji/KX_OdePhysicsController.cpp b/source/gameengine/Ketsji/KX_OdePhysicsController.cpp
index 8b0a6dafc22..05feb11a2bc 100644
--- a/source/gameengine/Ketsji/KX_OdePhysicsController.cpp
+++ b/source/gameengine/Ketsji/KX_OdePhysicsController.cpp
@@ -133,8 +133,9 @@ void	KX_OdePhysicsController::SetLinearVelocity(const MT_Vector3& lin_vel,bool l
 	ODEPhysicsController::SetLinearVelocity(lin_vel[0],lin_vel[1],lin_vel[2],local);
 }
 
-void KX_OdePhysicsController::setOrientation(const MT_Quaternion& orn)
+void KX_OdePhysicsController::setOrientation(const MT_Matrix3x3& rot)
 {
+	MT_Quaternion orn = rot.getRotation();
 	ODEPhysicsController::setOrientation(orn[0],orn[1],orn[2],orn[3]);
 }
 
diff --git a/source/gameengine/Ketsji/KX_OdePhysicsController.h b/source/gameengine/Ketsji/KX_OdePhysicsController.h
index c96c71c81f9..18f9edc6835 100644
--- a/source/gameengine/Ketsji/KX_OdePhysicsController.h
+++ b/source/gameengine/Ketsji/KX_OdePhysicsController.h
@@ -67,7 +67,7 @@ public:
 	virtual void	SetLinearVelocity(const MT_Vector3& lin_vel,bool local);
 	virtual void		resolveCombinedVelocities(float linvelX,float linvelY,float linvelZ,float angVelX,float angVelY,float angVelZ);
 	virtual	void		getOrientation(MT_Quaternion& orn);
-	virtual	void setOrientation(const MT_Quaternion& orn);
+	virtual	void setOrientation(const MT_Matrix3x3& orn);
 	virtual	void setPosition(const MT_Point3& pos);
 	virtual	void setScaling(const MT_Vector3& scaling);
 	virtual	MT_Scalar	GetMass();
diff --git a/source/gameengine/Ketsji/KX_RadarSensor.cpp b/source/gameengine/Ketsji/KX_RadarSensor.cpp
index bf2ba18f490..de4979ac4c9 100644
--- a/source/gameengine/Ketsji/KX_RadarSensor.cpp
+++ b/source/gameengine/Ketsji/KX_RadarSensor.cpp
@@ -176,8 +176,10 @@ void KX_RadarSensor::SynchronizeTransform()
 
 	if (m_physCtrl)
 	{
-		m_physCtrl->setPosition(trans.getOrigin().x(),trans.getOrigin().y(),trans.getOrigin().z());
-		m_physCtrl->setOrientation(trans.getRotation().x(),trans.getRotation().y(),trans.getRotation().z(),trans.getRotation().w());
+		MT_Quaternion orn = trans.getRotation();
+		MT_Point3 pos = trans.getOrigin();
+		m_physCtrl->setPosition(pos[0],pos[1],pos[2]);
+		m_physCtrl->setOrientation(orn[0],orn[1],orn[2],orn[3]);
 		m_physCtrl->calcXform();
 	}
 
diff --git a/source/gameengine/Ketsji/KX_Scene.cpp b/source/gameengine/Ketsji/KX_Scene.cpp
index 1bdd4002805..c374b9d6fd1 100644
--- a/source/gameengine/Ketsji/KX_Scene.cpp
+++ b/source/gameengine/Ketsji/KX_Scene.cpp
@@ -712,8 +712,12 @@ void KX_Scene::DupliGroupRecurse(CValue* obj, int level)
 
 		if (replica->GetPhysicsController())
 		{
-			replica->GetPhysicsController()->setPosition(newpos);
-			replica->GetPhysicsController()->setOrientation(newori.getRotation());
+			// not required, already done in NodeSetLocalOrientation..
+			//replica->GetPhysicsController()->setPosition(newpos);
+			//replica->GetPhysicsController()->setOrientation(newori.getRotation());
+			// Scaling has been set relatively hereabove, this does not 
+			// set the scaling of the controller. I don't know why it's just the
+			// relative scale and not the full scale that has to be put here...
 			replica->GetPhysicsController()->setScaling(newscale);
 		}
 
@@ -843,8 +847,9 @@ SCA_IObject* KX_Scene::AddReplicaObject(class CValue* originalobject,
 
 	if (replica->GetPhysicsController())
 	{
-		replica->GetPhysicsController()->setPosition(newpos);
-		replica->GetPhysicsController()->setOrientation(newori.getRotation());
+		// not needed, already done in NodeSetLocalPosition()
+		//replica->GetPhysicsController()->setPosition(newpos);
+		//replica->GetPhysicsController()->setOrientation(newori.getRotation());
 		replica->GetPhysicsController()->setScaling(newscale);
 	}
 
diff --git a/source/gameengine/Ketsji/KX_SumoPhysicsController.cpp b/source/gameengine/Ketsji/KX_SumoPhysicsController.cpp
index ffb078b346e..4032a795ce3 100644
--- a/source/gameengine/Ketsji/KX_SumoPhysicsController.cpp
+++ b/source/gameengine/Ketsji/KX_SumoPhysicsController.cpp
@@ -170,8 +170,9 @@ void	KX_SumoPhysicsController::setMargin(float collisionMargin)
 }
 
 
-void KX_SumoPhysicsController::setOrientation(const MT_Quaternion& orn)
+void KX_SumoPhysicsController::setOrientation(const MT_Matrix3x3& rot)
 {
+	MT_Quaternion orn = rot.getRotation();
 	SumoPhysicsController::setOrientation(
 		orn[0],orn[1],orn[2],orn[3]);
 
diff --git a/source/gameengine/Ketsji/KX_SumoPhysicsController.h b/source/gameengine/Ketsji/KX_SumoPhysicsController.h
index 33666036c0d..1dd930bf3d9 100644
--- a/source/gameengine/Ketsji/KX_SumoPhysicsController.h
+++ b/source/gameengine/Ketsji/KX_SumoPhysicsController.h
@@ -79,7 +79,7 @@ public:
 	void	SuspendDynamics(bool);
 	void	RestoreDynamics();
 	virtual	void	getOrientation(MT_Quaternion& orn);
-	virtual	void setOrientation(const MT_Quaternion& orn);
+	virtual	void setOrientation(const MT_Matrix3x3& orn);
 	
 	virtual	void setPosition(const MT_Point3& pos);
 	virtual	void setScaling(const MT_Vector3& scaling);
diff --git a/source/gameengine/Physics/Bullet/CcdPhysicsController.cpp b/source/gameengine/Physics/Bullet/CcdPhysicsController.cpp
index e444c4c73be..5c70b071661 100644
--- a/source/gameengine/Physics/Bullet/CcdPhysicsController.cpp
+++ b/source/gameengine/Physics/Bullet/CcdPhysicsController.cpp
@@ -337,12 +337,33 @@ void		CcdPhysicsController::setOrientation(float quatImag0,float quatImag1,float
 		{
 			m_body->setCollisionFlags(m_body->getCollisionFlags() | btCollisionObject::CF_KINEMATIC_OBJECT);
 		}
-
-		m_MotionState->setWorldOrientation(quatImag0,quatImag1,quatImag2,quatReal);
+		// not required
+		//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);
+		// not required
+		//m_bulletMotionState->setWorldTransform(xform);
+	}
+
+}
+
+void CcdPhysicsController::setWorldOrientation(const btMatrix3x3& orn)
+{
+	if (m_body)
+	{
+		m_body->activate(true);
+		if (m_body->isStaticObject())
+		{
+			m_body->setCollisionFlags(m_body->getCollisionFlags() | btCollisionObject::CF_KINEMATIC_OBJECT);
+		}
+		// not required
+		//m_MotionState->setWorldOrientation(quatImag0,quatImag1,quatImag2,quatReal);
+		btTransform xform  = m_body->getCenterOfMassTransform();
+		xform.setBasis(orn);
+		m_body->setCenterOfMassTransform(xform);
+		// not required
+		//m_bulletMotionState->setWorldTransform(xform);
 	}
 
 }
@@ -356,12 +377,13 @@ void		CcdPhysicsController::setPosition(float posX,float posY,float posZ)
 		{
 			m_body->setCollisionFlags(m_body->getCollisionFlags() | btCollisionObject::CF_KINEMATIC_OBJECT);
 		}
-		
-		m_MotionState->setWorldPosition(posX,posY,posZ);
+		// not required, this function is only used to update the physic controller
+		//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);
+		// not required
+		//m_bulletMotionState->setWorldTransform(xform);
 	}
 
 
diff --git a/source/gameengine/Physics/Bullet/CcdPhysicsController.h b/source/gameengine/Physics/Bullet/CcdPhysicsController.h
index abb71956f5a..64f1876e199 100644
--- a/source/gameengine/Physics/Bullet/CcdPhysicsController.h
+++ b/source/gameengine/Physics/Bullet/CcdPhysicsController.h
@@ -116,6 +116,9 @@ class CcdPhysicsController : public PHY_IPhysicsController
 
 	void CreateRigidbody();
 
+	protected:
+		void setWorldOrientation(const btMatrix3x3& mat);
+
 	public:
 	
 		int				m_collisionDelay;