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authorBenoit Bolsee <benoit.bolsee@online.be>2008-09-13 15:46:07 +0400
committerBenoit Bolsee <benoit.bolsee@online.be>2008-09-13 15:46:07 +0400
commitba9d3aa4ab1be8c7faa28c9d49b4d0ed5f17b32a (patch)
tree2186b63064b32d31a5d1e583090af44a95f9c008 /source
parentdfb5ebb12ea18bc8982777142c6e185cb389ad45 (diff)
BGE patch: fix transform bug on compound shape: child shape didn't take into account parent inverse node. Fix scaling bug on instantiation of compound shape: child shape didn't have correct shape. Note: global scaling doesn't work on compound shape (limitation of Bullet); don't set any scale on the top dynamic object.
Diffstat (limited to 'source')
-rw-r--r--source/gameengine/Ketsji/KX_ConvertPhysicsObjects.cpp26
-rw-r--r--source/gameengine/Physics/Bullet/CcdPhysicsController.cpp1
-rw-r--r--source/gameengine/Physics/Bullet/CcdPhysicsController.h2
3 files changed, 25 insertions, 4 deletions
diff --git a/source/gameengine/Ketsji/KX_ConvertPhysicsObjects.cpp b/source/gameengine/Ketsji/KX_ConvertPhysicsObjects.cpp
index 9607489497d..6507bf501e4 100644
--- a/source/gameengine/Ketsji/KX_ConvertPhysicsObjects.cpp
+++ b/source/gameengine/Ketsji/KX_ConvertPhysicsObjects.cpp
@@ -801,11 +801,29 @@ void KX_ConvertBulletObject( class KX_GameObject* gameobj,
assert(colShape->isCompound());
btCompoundShape* compoundShape = (btCompoundShape*)colShape;
- MT_Point3 childPos = gameobj->GetSGNode()->GetLocalPosition();
- MT_Matrix3x3 childRot = gameobj->GetSGNode()->GetLocalOrientation();
- MT_Vector3 childScale = gameobj->GetSGNode()->GetLocalScale();
+ // compute the local transform from parent, this may include a parent inverse node
+ SG_Node* gameNode = gameobj->GetSGNode();
+ SG_Node* parentInverseNode = gameNode->GetSGParent();
+ if (parentInverseNode && parentInverseNode->GetSGClientObject() != NULL)
+ // this is not a parent inverse node, cancel it
+ parentInverseNode = NULL;
+ // now combine the parent inverse node and the game node
+ MT_Point3 childPos = gameNode->GetLocalPosition();
+ MT_Matrix3x3 childRot = gameNode->GetLocalOrientation();
+ MT_Vector3 childScale = gameNode->GetLocalScale();
+ if (parentInverseNode)
+ {
+ const MT_Point3& parentInversePos = parentInverseNode->GetLocalPosition();
+ const MT_Matrix3x3& parentInverseRot = parentInverseNode->GetLocalOrientation();
+ const MT_Vector3& parentInverseScale = parentInverseNode->GetLocalScale();
+ childRot = parentInverseRot * childRot;
+ childScale = parentInverseScale * childScale;
+ childPos = parentInversePos+parentInverseScale*(parentInverseRot*childPos);
+ }
- bm->setLocalScaling(btVector3(childScale.x(),childScale.y(),childScale.z()));
+ shapeInfo->m_childScale.setValue(childScale.x(),childScale.y(),childScale.z());
+ bm->setLocalScaling(shapeInfo->m_childScale);
+
shapeInfo->m_childTrans.setOrigin(btVector3(childPos.x(),childPos.y(),childPos.z()));
float rotval[12];
childRot.getValue(rotval);
diff --git a/source/gameengine/Physics/Bullet/CcdPhysicsController.cpp b/source/gameengine/Physics/Bullet/CcdPhysicsController.cpp
index b67cf0425c5..b9266bb9b0e 100644
--- a/source/gameengine/Physics/Bullet/CcdPhysicsController.cpp
+++ b/source/gameengine/Physics/Bullet/CcdPhysicsController.cpp
@@ -924,6 +924,7 @@ btCollisionShape* CcdShapeConstructionInfo::CreateBulletShape()
collisionShape = nextShapeInfo->CreateBulletShape();
if (collisionShape)
{
+ collisionShape->setLocalScaling(nextShapeInfo->m_childScale);
compoundShape->addChildShape(nextShapeInfo->m_childTrans, collisionShape);
}
}
diff --git a/source/gameengine/Physics/Bullet/CcdPhysicsController.h b/source/gameengine/Physics/Bullet/CcdPhysicsController.h
index a3fbb502c08..d6f0867e01d 100644
--- a/source/gameengine/Physics/Bullet/CcdPhysicsController.h
+++ b/source/gameengine/Physics/Bullet/CcdPhysicsController.h
@@ -47,6 +47,7 @@ public:
m_radius(1.0),
m_height(1.0),
m_halfExtend(0.f,0.f,0.f),
+ m_childScale(1.0f,1.0f,1.0f),
m_nextShape(NULL),
m_refCount(1)
{
@@ -96,6 +97,7 @@ public:
btScalar m_height;
btVector3 m_halfExtend;
btTransform m_childTrans;
+ btVector3 m_childScale;
std::vector<btPoint3> m_vertexArray; // Contains both vertex array for polytope shape and
// triangle array for concave mesh shape.
// In this case a triangle is made of 3 consecutive points