- enabled compound collision objects, requires 'clear parent inverse'

- fixed some issues with kinematic objects, introduced during Bullet 2.x upgrade

6 files changed, 158 insertions, 50 deletions

diff --git a/source/gameengine/Converter/BL_BlenderDataConversion.cpp b/source/gameengine/Converter/BL_BlenderDataConversion.cpp
index 30ff522a26d..b8e273f3d19 100644
--- a/source/gameengine/Converter/BL_BlenderDataConversion.cpp
+++ b/source/gameengine/Converter/BL_BlenderDataConversion.cpp
@@ -1206,7 +1206,8 @@ void BL_CreatePhysicsObjectNew(KX_GameObject* gameobj,
 						 KX_Scene* kxscene,
 						 int activeLayerBitInfo,
 						 e_PhysicsEngine	physics_engine,
-						 KX_BlenderSceneConverter *converter
+						 KX_BlenderSceneConverter *converter,
+						 bool processCompoundChildren
 						 )
 					
 {
@@ -1214,6 +1215,25 @@ void BL_CreatePhysicsObjectNew(KX_GameObject* gameobj,
 	//int userigidbody = SYS_GetCommandLineInt(syshandle,"norigidbody",0);
 	//bool bRigidBody = (userigidbody == 0);
 
+	// get Root Parent of blenderobject
+	struct Object* parent= blenderobject->parent;
+	while(parent && parent->parent) {
+		parent= parent->parent;
+	}
+
+	bool isCompoundChild = false;
+
+	if (parent && (parent->gameflag & OB_DYNAMIC)) {
+		
+		if ((parent->gameflag & OB_CHILD) != 0)
+		{
+			isCompoundChild = true;
+		} 
+	}
+	if (processCompoundChildren != isCompoundChild)
+		return;
+
+
 	PHY_ShapeProps* shapeprops =
 			CreateShapePropsFromBlenderObject(blenderobject, 
 			kxscene);
@@ -1223,6 +1243,10 @@ void BL_CreatePhysicsObjectNew(KX_GameObject* gameobj,
 		CreateMaterialFromBlenderObject(blenderobject, kxscene);
 					
 	KX_ObjectProperties objprop;
+
+	objprop.m_isCompoundChild = isCompoundChild;
+	objprop.m_hasCompoundChildren = (blenderobject->gameflag & OB_CHILD) != 0;
+
 	if ((objprop.m_isactor = (blenderobject->gameflag & OB_ACTOR)!=0))
 	{
 		objprop.m_dyna = (blenderobject->gameflag & OB_DYNAMIC) != 0;
@@ -1242,7 +1266,6 @@ void BL_CreatePhysicsObjectNew(KX_GameObject* gameobj,
 	objprop.m_dynamic_parent=NULL;
 	objprop.m_isdeformable = ((blenderobject->gameflag2 & 2)) != 0;
 	objprop.m_boundclass = objprop.m_dyna?KX_BOUNDSPHERE:KX_BOUNDMESH;
-	
 	KX_BoxBounds bb;
 	my_get_local_bounds(blenderobject,objprop.m_boundobject.box.m_center,bb.m_extends);
 	if (blenderobject->gameflag & OB_BOUNDS)
@@ -1295,19 +1318,17 @@ void BL_CreatePhysicsObjectNew(KX_GameObject* gameobj,
 		}
 	}
 
-	// get Root Parent of blenderobject
-	struct Object* parent= blenderobject->parent;
-	while(parent && parent->parent) {
-		parent= parent->parent;
-	}
-
+	
 	if (parent && (parent->gameflag & OB_DYNAMIC)) {
 		
 		KX_GameObject *parentgameobject = converter->FindGameObject(parent);
 		objprop.m_dynamic_parent = parentgameobject;
-
+		//cannot be dynamic:
+		objprop.m_dyna = false;
+		shapeprops->m_mass = 0.f;
 	}
 
+	
 	objprop.m_concave = (blenderobject->boundtype & 4) != 0;
 	
 	switch (physics_engine)
@@ -1873,6 +1894,8 @@ void BL_ConvertBlenderObjects(struct Main* maggie,
 		}
 	}
 	
+	bool processCompoundChildren = false;
+
 	// create physics information
 	for (i=0;i<sumolist->GetCount();i++)
 	{
@@ -1880,16 +1903,28 @@ void BL_ConvertBlenderObjects(struct Main* maggie,
 		struct Object* blenderobject = converter->FindBlenderObject(gameobj);
 		int nummeshes = gameobj->GetMeshCount();
 		RAS_MeshObject* meshobj = 0;
-
 		if (nummeshes > 0)
 		{
 			meshobj = gameobj->GetMesh(0);
 		}
+		BL_CreatePhysicsObjectNew(gameobj,blenderobject,meshobj,kxscene,activeLayerBitInfo,physics_engine,converter,processCompoundChildren);
+	}
 
-		BL_CreatePhysicsObjectNew(gameobj,blenderobject,meshobj,kxscene,activeLayerBitInfo,physics_engine,converter);
-
+	processCompoundChildren = true;
+	// create physics information
+	for (i=0;i<sumolist->GetCount();i++)
+	{
+		KX_GameObject* gameobj = (KX_GameObject*) sumolist->GetValue(i);
+		struct Object* blenderobject = converter->FindBlenderObject(gameobj);
+		int nummeshes = gameobj->GetMeshCount();
+		RAS_MeshObject* meshobj = 0;
+		if (nummeshes > 0)
+		{
+			meshobj = gameobj->GetMesh(0);
+		}
+		BL_CreatePhysicsObjectNew(gameobj,blenderobject,meshobj,kxscene,activeLayerBitInfo,physics_engine,converter,processCompoundChildren);
 	}
-	
+
 		// create physics joints
 	for (i=0;i<sumolist->GetCount();i++)
 	{
@@ -1910,20 +1945,6 @@ void BL_ConvertBlenderObjects(struct Main* maggie,
                             PHY_IPhysicsController* physctrl = (PHY_IPhysicsController*) gameobj->GetPhysicsController()->GetUserData();
                             PHY_IPhysicsController* physctr2 = (PHY_IPhysicsController*) gotar->GetPhysicsController()->GetUserData();
                             kxscene->GetPhysicsEnvironment()->createConstraint(physctrl,physctr2,(PHY_ConstraintType)dat->type,(float)dat->pivX,(float)dat->pivY,(float)dat->pivZ,(float)dat->axX,(float)dat->axY,(float)dat->axZ);
-                            /*switch(dat->type){
-                                case CONSTRAINT_RB_BALL:
-                                    KX_GameObject *gotar=getGameOb(dat->tar->id.name,sumolist);
-                                    PHY_IPhysicsController* physctrl = (PHY_IPhysicsController*) (int)gameobj->GetPhysicsController()->GetUserData();
-                                    PHY_IPhysicsController* physctr2 = (PHY_IPhysicsController*) (int)gotar->GetPhysicsController()->GetUserData();
-                                    kxscene->GetPhysicsEnvironment()->createConstraint(physctrl,physctr2,(PHY_ConstraintType)dat->type,(float)dat->pivX,(float)dat->pivY,(float)dat->pivZ,(float)dat->axX,(float)dat->axY,(float)dat->axZ);
-                                    break;
-                                case CONSTRAINT_RB_HINGE:
-                                    KX_GameObject *gotar=getGameOb(dat->tar->id.name,sumolist);
-                                    PHY_IPhysicsController* physctrl = (PHY_IPhysicsController*) (int)gameobj->GetPhysicsController()->GetUserData();
-                                    PHY_IPhysicsController* physctr2 = (PHY_IPhysicsController*) (int)gotar->GetPhysicsController()->GetUserData();
-                                    kxscene->GetPhysicsEnvironment()->createConstraint(physctrl,physctr2,(PHY_ConstraintType)dat->type,(float)dat->pivX,(float)dat->pivY,(float)dat->pivZ,(float)dat->axX,(float)dat->axY,(float)dat->axZ);
-                                    break;
-                            }*/
                         }
                 }
             }
diff --git a/source/gameengine/Ketsji/KX_BulletPhysicsController.cpp b/source/gameengine/Ketsji/KX_BulletPhysicsController.cpp
index d28a8f40d6f..6785cb957bc 100644
--- a/source/gameengine/Ketsji/KX_BulletPhysicsController.cpp
+++ b/source/gameengine/Ketsji/KX_BulletPhysicsController.cpp
@@ -195,6 +195,34 @@ SG_Controller*	KX_BulletPhysicsController::GetReplica(class SG_Node* destnode)
 
 void	KX_BulletPhysicsController::SetSumoTransform(bool nondynaonly)
 {
+	GetRigidBody()->activate(true);
+
+	if (!m_bDyna)
+	{
+		GetRigidBody()->setCollisionFlags(GetRigidBody()->getCollisionFlags() | btCollisionObject::CF_KINEMATIC_OBJECT);
+	} else
+	{
+		if (!nondynaonly)
+		{
+			btTransform worldTrans;
+			GetRigidBody()->getMotionState()->getWorldTransform(worldTrans);
+			GetRigidBody()->setCenterOfMassTransform(worldTrans);
+			
+			/*
+			scaling?
+			if (m_bDyna)
+			{
+				m_sumoObj->setScaling(MT_Vector3(1,1,1));
+			} else
+			{
+				MT_Vector3 scale;
+				GetWorldScaling(scale);
+				m_sumoObj->setScaling(scale);
+			}
+			*/
+
+		}
+	}
 }
 
 // todo: remove next line !
diff --git a/source/gameengine/Ketsji/KX_ConvertPhysicsObject.h b/source/gameengine/Ketsji/KX_ConvertPhysicsObject.h
index a976a6b13b1..684e052323d 100644
--- a/source/gameengine/Ketsji/KX_ConvertPhysicsObject.h
+++ b/source/gameengine/Ketsji/KX_ConvertPhysicsObject.h
@@ -57,7 +57,8 @@ typedef enum {
 	KX_BOUNDCYLINDER,
 	KX_BOUNDCONE,
 	KX_BOUNDMESH,
-	KX_BOUNDPOLYTOPE
+	KX_BOUNDPOLYTOPE,
+	KX_BOUND_DYN_MESH
 } KX_BoundBoxClass;
 
 struct KX_BoxBounds
@@ -86,6 +87,8 @@ struct KX_ObjectProperties
 	bool	m_concave;
 	bool	m_isdeformable;
 	bool	m_disableSleeping;
+	bool	m_hasCompoundChildren;
+	bool	m_isCompoundChild;
 	KX_BoundBoxClass	m_boundclass;
 	union {
 		KX_BoxBounds	box;
diff --git a/source/gameengine/Ketsji/KX_ConvertPhysicsObjects.cpp b/source/gameengine/Ketsji/KX_ConvertPhysicsObjects.cpp
index ca75b77dfec..e7a33fafffb 100644
--- a/source/gameengine/Ketsji/KX_ConvertPhysicsObjects.cpp
+++ b/source/gameengine/Ketsji/KX_ConvertPhysicsObjects.cpp
@@ -884,29 +884,11 @@ void	KX_ConvertBulletObject(	class	KX_GameObject* gameobj,
 	CcdPhysicsEnvironment* env = (CcdPhysicsEnvironment*)kxscene->GetPhysicsEnvironment();
 	assert(env);
 	
-
-	bool isbulletdyna = false;
+	bool isbulletdyna = objprop->m_dyna;
 	CcdConstructionInfo ci;
-	class PHY_IMotionState* motionstate = new KX_MotionState(gameobj->GetSGNode());
-
-	
-
-	if (!objprop->m_dyna)
-	{
-		ci.m_collisionFlags |= btCollisionObject::CF_STATIC_OBJECT;
-	}
-
-	ci.m_MotionState = motionstate;
-	ci.m_gravity = btVector3(0,0,0);
 	ci.m_localInertiaTensor =btVector3(0,0,0);
 	ci.m_mass = objprop->m_dyna ? shapeprops->m_mass : 0.f;
-	isbulletdyna = objprop->m_dyna;
-	
-	ci.m_localInertiaTensor = btVector3(ci.m_mass/3.f,ci.m_mass/3.f,ci.m_mass/3.f);
-	
-	btTransform trans;
-	trans.setIdentity();
-	
+
 	btCollisionShape* bm = 0;
 
 	switch (objprop->m_boundclass)
@@ -1022,6 +1004,59 @@ void	KX_ConvertBulletObject(	class	KX_GameObject* gameobj,
 
 	bm->setMargin(0.06);
 
+	if (objprop->m_isCompoundChild)
+	{
+		//find parent, compound shape and add to it
+		//take relative transform into account!
+		KX_BulletPhysicsController* parentCtrl = (KX_BulletPhysicsController*)objprop->m_dynamic_parent->GetPhysicsController();
+		assert(parentCtrl);
+		btRigidBody* rigidbody = parentCtrl->GetRigidBody();
+		btCollisionShape* colShape = rigidbody->getCollisionShape();
+		assert(colShape->isCompound());
+		btCompoundShape* compoundShape = (btCompoundShape*)colShape;
+		btTransform childTrans;
+		childTrans.setIdentity();
+		NodeList& children = objprop->m_dynamic_parent->GetSGNode()->GetSGChildren();
+
+		MT_Point3 childPos = gameobj->GetSGNode()->GetLocalPosition();
+		MT_Matrix3x3 childRot = gameobj->GetSGNode()->GetLocalOrientation();
+		MT_Vector3 childScale = gameobj->GetSGNode()->GetLocalScale();
+
+		bm->setLocalScaling(btVector3(childScale.x(),childScale.y(),childScale.z()));
+		childTrans.setOrigin(btVector3(childPos.x(),childPos.y(),childPos.z()));
+		float rotval[12];
+		childRot.getValue(rotval);
+		btMatrix3x3 newRot;
+		newRot.setValue(rotval[0],rotval[1],rotval[2],rotval[4],rotval[5],rotval[6],rotval[8],rotval[9],rotval[10]);
+		newRot = newRot.transpose();
+
+		childTrans.setBasis(newRot);
+			
+
+		compoundShape->addChildShape(childTrans,bm);
+		//do some recalc?
+		//recalc inertia for rigidbody
+		if (!rigidbody->isStaticOrKinematicObject())
+		{
+			btVector3 localInertia;
+			float mass = 1.f/rigidbody->getInvMass();
+			compoundShape->calculateLocalInertia(mass,localInertia);
+			rigidbody->setMassProps(mass,localInertia);
+		}
+		return;
+	}
+
+	if (objprop->m_hasCompoundChildren)
+	{
+		//replace shape by compoundShape
+		btCompoundShape* compoundShape = new btCompoundShape();
+		btTransform identTrans;
+		identTrans.setIdentity();
+		compoundShape->addChildShape(identTrans,bm);
+		bm = compoundShape;
+	}
+
+
 #ifdef TEST_SIMD_HULL
 	if (bm->IsPolyhedral())
 	{
@@ -1052,6 +1087,23 @@ void	KX_ConvertBulletObject(	class	KX_GameObject* gameobj,
 	ci.m_collisionShape = bm;
 	
 
+	class PHY_IMotionState* motionstate = new KX_MotionState(gameobj->GetSGNode());
+
+	if (!objprop->m_dyna)
+	{
+		ci.m_collisionFlags |= btCollisionObject::CF_STATIC_OBJECT;
+	}
+
+	
+	ci.m_MotionState = motionstate;
+	ci.m_gravity = btVector3(0,0,0);
+	
+	ci.m_localInertiaTensor = btVector3(ci.m_mass/3.f,ci.m_mass/3.f,ci.m_mass/3.f);
+	
+	btTransform trans;
+	trans.setIdentity();
+	
+
 	
 	ci.m_friction = smmaterial->m_friction;//tweak the friction a bit, so the default 0.5 works nice
 	ci.m_restitution = smmaterial->m_restitution;
diff --git a/source/gameengine/Physics/Bullet/CcdPhysicsController.cpp b/source/gameengine/Physics/Bullet/CcdPhysicsController.cpp
index 33b0e986a32..f6a087887f9 100644
--- a/source/gameengine/Physics/Bullet/CcdPhysicsController.cpp
+++ b/source/gameengine/Physics/Bullet/CcdPhysicsController.cpp
@@ -126,7 +126,8 @@ void CcdPhysicsController::CreateRigidbody()
 	
 	//setMassProps this also sets collisionFlags
 	//convert collision flags!
-//	m_body->m_collisionFlags = m_cci.m_collisionFlags;
+
+	m_body->setCollisionFlags(m_body->getCollisionFlags() | m_cci.m_collisionFlags);
 	
 	m_body->setGravity( m_cci.m_gravity);
 	m_body->setDamping(m_cci.m_linearDamping, m_cci.m_angularDamping);
diff --git a/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.cpp b/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.cpp
index b951602fe1e..37eb0ef76e3 100644
--- a/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.cpp
+++ b/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.cpp
@@ -814,6 +814,8 @@ void CcdPhysicsEnvironment::addSensor(PHY_IPhysicsController* ctrl)
 	{
 		addCcdPhysicsController(ctrl1);
 	}
+	//force collision detection with everything, including static objects (might hurt performance!)
+	ctrl1->GetRigidBody()->getBroadphaseHandle()->m_collisionFilterMask = btBroadphaseProxy::AllFilter;
 
 	requestCollisionCallback(ctrl);
 	//printf("addSensor\n");
@@ -970,7 +972,7 @@ PHY_IPhysicsController*	CcdPhysicsEnvironment::CreateSphereController(float radi
 	cinfo.m_collisionShape = new btSphereShape(radius);
 	cinfo.m_MotionState = 0;
 	cinfo.m_physicsEnv = this;
-	cinfo.m_collisionFlags |= btCollisionObject::CF_NO_CONTACT_RESPONSE;
+	cinfo.m_collisionFlags |= btCollisionObject::CF_NO_CONTACT_RESPONSE | btCollisionObject::CF_KINEMATIC_OBJECT;
 	DefaultMotionState* motionState = new DefaultMotionState();
 	cinfo.m_MotionState = motionState;
 	motionState->m_worldTransform.setIdentity();
@@ -1153,6 +1155,7 @@ PHY_IPhysicsController* CcdPhysicsEnvironment::CreateConeController(float conera
 	cinfo.m_collisionShape = new btConeShape(coneradius,coneheight);
 	cinfo.m_MotionState = 0;
 	cinfo.m_physicsEnv = this;
+	cinfo.m_collisionFlags |= btCollisionObject::CF_NO_CONTACT_RESPONSE;
 	DefaultMotionState* motionState = new DefaultMotionState();
 	cinfo.m_MotionState = motionState;
 	motionState->m_worldTransform.setIdentity();