#18872 bugfix for torque on dynamic objects

#18893, fix to getParam for generic 6dof constraints

8 files changed, 72 insertions, 5 deletions

diff --git a/source/gameengine/Ketsji/KX_ConstraintWrapper.cpp b/source/gameengine/Ketsji/KX_ConstraintWrapper.cpp
index 3e5594e0d1c..c5cf67af67d 100644
--- a/source/gameengine/Ketsji/KX_ConstraintWrapper.cpp
+++ b/source/gameengine/Ketsji/KX_ConstraintWrapper.cpp
@@ -54,6 +54,20 @@ PyObject* KX_ConstraintWrapper::PyGetConstraintId()
 	return PyInt_FromLong(m_constraintId);
 }
 
+
+PyObject* KX_ConstraintWrapper::PyGetParam(PyObject* args, PyObject* kwds)
+{
+	int dof;
+	float value;
+	
+	if (!PyArg_ParseTuple(args,"i:getParam",&dof))
+		return NULL;
+	
+	value = m_physenv->getConstraintParam(m_constraintId,dof);
+	return PyFloat_FromDouble(value);
+	
+}
+
 PyObject* KX_ConstraintWrapper::PySetParam(PyObject* args, PyObject* kwds)
 {
 	int dof;
@@ -119,6 +133,7 @@ int	KX_ConstraintWrapper::py_setattro(PyObject *attr,PyObject* value)
 PyMethodDef KX_ConstraintWrapper::Methods[] = {
 	{"getConstraintId",(PyCFunction) KX_ConstraintWrapper::sPyGetConstraintId, METH_NOARGS},
 	{"setParam",(PyCFunction) KX_ConstraintWrapper::sPySetParam, METH_VARARGS},
+	{"getParam",(PyCFunction) KX_ConstraintWrapper::sPyGetParam, METH_VARARGS},
 	{NULL,NULL} //Sentinel
 };
 
diff --git a/source/gameengine/Ketsji/KX_ConstraintWrapper.h b/source/gameengine/Ketsji/KX_ConstraintWrapper.h
index d4f038e2898..03813e0f167 100644
--- a/source/gameengine/Ketsji/KX_ConstraintWrapper.h
+++ b/source/gameengine/Ketsji/KX_ConstraintWrapper.h
@@ -45,6 +45,7 @@ public:
 	
 	KX_PYMETHOD_NOARGS(KX_ConstraintWrapper,GetConstraintId);
 	KX_PYMETHOD(KX_ConstraintWrapper,SetParam);
+	KX_PYMETHOD(KX_ConstraintWrapper,GetParam);
 
 private:
 	int					m_constraintId;
diff --git a/source/gameengine/Physics/Bullet/CcdPhysicsController.cpp b/source/gameengine/Physics/Bullet/CcdPhysicsController.cpp
index 3a3c817698b..d22c09b4d3e 100644
--- a/source/gameengine/Physics/Bullet/CcdPhysicsController.cpp
+++ b/source/gameengine/Physics/Bullet/CcdPhysicsController.cpp
@@ -1019,7 +1019,8 @@ void		CcdPhysicsController::ApplyTorque(float torqueX,float torqueY,float torque
 			//workaround for incompatibility between 'DYNAMIC' game object, and angular factor
 			//a DYNAMIC object has some inconsistency: it has no angular effect due to collisions, but still has torque
 			const btVector3& angFac = body->getAngularFactor();
-			body->setAngularFactor(1.f);
+			btVector3 tmpFac(0,0,1);
+			body->setAngularFactor(tmpFac);
 			body->applyTorque(torque);
 			body->setAngularFactor(angFac);
 		}
diff --git a/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.cpp b/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.cpp
index 2dc7bffe618..bc7ccacc39b 100644
--- a/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.cpp
+++ b/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.cpp
@@ -1786,6 +1786,45 @@ CcdPhysicsEnvironment::~CcdPhysicsEnvironment()
 }
 
 
+float	CcdPhysicsEnvironment::getConstraintParam(int constraintId,int param)
+{
+	btTypedConstraint* typedConstraint = getConstraintById(constraintId);
+	switch (typedConstraint->getUserConstraintType())
+	{
+	case PHY_GENERIC_6DOF_CONSTRAINT:
+		{
+			
+			switch (param)
+			{
+			case 0:	case 1: case 2: 
+				{
+					//param = 0..2 are linear constraint values
+					btGeneric6DofConstraint* genCons = (btGeneric6DofConstraint*)typedConstraint;
+					genCons->calculateTransforms();
+					return genCons->getRelativePivotPosition(param);
+					break;
+				}
+				case 3: case 4: case 5:
+				{
+					//param = 3..5 are relative constraint (Euler) angles
+					btGeneric6DofConstraint* genCons = (btGeneric6DofConstraint*)typedConstraint;
+					genCons->calculateTransforms();
+					return genCons->getAngle(param-3);
+					break;
+				}
+			default:
+				{
+				}
+			}
+			break;
+		};
+	default:
+		{
+		};
+	};
+	return 0.f;
+}
+
 void	CcdPhysicsEnvironment::setConstraintParam(int constraintId,int param,float value0,float value1)
 {
 	btTypedConstraint* typedConstraint = getConstraintById(constraintId);
@@ -1835,11 +1874,9 @@ void	CcdPhysicsEnvironment::setConstraintParam(int constraintId,int param,float
 					{
 						bool springEnabled = true;
 						genCons->setStiffness(springIndex,value0);
+						genCons->setDamping(springIndex,value1);
 						genCons->enableSpring(springIndex,springEnabled);
-						if (value1>0.5f)
-						{
-							genCons->setEquilibriumPoint(springIndex);
-						}
+						genCons->setEquilibriumPoint(springIndex);
 					} else
 					{
 						bool springEnabled = false;
diff --git a/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.h b/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.h
index 4e39d531cd6..bc5491e00cc 100644
--- a/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.h
+++ b/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.h
@@ -149,7 +149,10 @@ protected:
 			const btVector3& angularMaxLimits,int flags
 			);
 
+		
 		virtual void	setConstraintParam(int constraintId,int param,float value,float value1);
+		
+		virtual float	getConstraintParam(int constraintId,int param);
 
 	    virtual void		removeConstraint(int	constraintid);
 
diff --git a/source/gameengine/Physics/Dummy/DummyPhysicsEnvironment.h b/source/gameengine/Physics/Dummy/DummyPhysicsEnvironment.h
index 73e7e947355..8dbd137f9de 100644
--- a/source/gameengine/Physics/Dummy/DummyPhysicsEnvironment.h
+++ b/source/gameengine/Physics/Dummy/DummyPhysicsEnvironment.h
@@ -88,6 +88,11 @@ public:
 		{
 		}
 
+		virtual float	getConstraintParam(int constraintId,int param)
+		{
+			return 0.f;
+		}
+
 };
 
 #endif //_DUMMYPHYSICSENVIRONMENT
diff --git a/source/gameengine/Physics/Sumo/SumoPhysicsEnvironment.h b/source/gameengine/Physics/Sumo/SumoPhysicsEnvironment.h
index 4c9d59e3673..5ae33eb4b0e 100644
--- a/source/gameengine/Physics/Sumo/SumoPhysicsEnvironment.h
+++ b/source/gameengine/Physics/Sumo/SumoPhysicsEnvironment.h
@@ -88,6 +88,10 @@ public:
 	virtual PHY_IPhysicsController*	CreateSphereController(float radius,const PHY__Vector3& position);
 	virtual PHY_IPhysicsController* CreateConeController(float coneradius,float coneheight);
 
+	virtual float	getConstraintParam(int constraintId,int param)
+	{
+		return 0.f;
+	}
 	virtual void	setConstraintParam(int constraintId,int param,float value,float value1)
 	{
 	}
diff --git a/source/gameengine/Physics/common/PHY_IPhysicsEnvironment.h b/source/gameengine/Physics/common/PHY_IPhysicsEnvironment.h
index 1939083ef5f..c76e9d175ce 100644
--- a/source/gameengine/Physics/common/PHY_IPhysicsEnvironment.h
+++ b/source/gameengine/Physics/common/PHY_IPhysicsEnvironment.h
@@ -159,6 +159,7 @@ class PHY_IPhysicsEnvironment
 		virtual PHY_IPhysicsController* CreateConeController(float coneradius,float coneheight)=0;
 		
 		virtual void	setConstraintParam(int constraintId,int param,float value,float value1) = 0;
+		virtual float	getConstraintParam(int constraintId,int param) = 0;
 };
 
 #endif //_IPHYSICSENVIRONMENT