added physics-debugging

didn't check every single file, so might have broken some gameengine stuff, will fix it this weekend!

8 files changed, 85 insertions, 52 deletions

diff --git a/source/gameengine/Converter/KX_BlenderSceneConverter.cpp b/source/gameengine/Converter/KX_BlenderSceneConverter.cpp
index 298a909150f..4db080e02db 100644
--- a/source/gameengine/Converter/KX_BlenderSceneConverter.cpp
+++ b/source/gameengine/Converter/KX_BlenderSceneConverter.cpp
@@ -173,15 +173,32 @@ static struct Scene *GetSceneForName2(struct Main *maggie, const STR_String& sce
 #include "KX_PythonInit.h"
 
 #ifdef USE_BULLET
-struct	BlenderDebugDraw : public PHY_IPhysicsDebugDraw
+#include "IDebugDraw.h"
+
+
+struct	BlenderDebugDraw : public IDebugDraw
 {
+	BlenderDebugDraw () :
+		m_debugMode(0) 
+	{
+	}
+	
+	int m_debugMode;
+
 	virtual void	DrawLine(const SimdVector3& from,const SimdVector3& to,const SimdVector3& color)
 	{
-		MT_Vector3 kxfrom(from[0],from[1],from[2]);
-		MT_Vector3 kxto(to[0],to[1],to[2]);
-		MT_Vector3 kxcolor(color[0],color[1],color[2]);
+		if (m_debugMode == 1)
+		{
+			MT_Vector3 kxfrom(from[0],from[1],from[2]);
+			MT_Vector3 kxto(to[0],to[1],to[2]);
+			MT_Vector3 kxcolor(color[0],color[1],color[2]);
 
-		KX_RasterizerDrawDebugLine(kxfrom,kxto,kxcolor);
+			KX_RasterizerDrawDebugLine(kxfrom,kxto,kxcolor);
+		}
+	}
+	virtual void	SetDebugMode(int debugMode)
+	{
+		m_debugMode = debugMode;
 	}
 };
 
diff --git a/source/gameengine/Ketsji/KX_ConvertPhysicsObjects.cpp b/source/gameengine/Ketsji/KX_ConvertPhysicsObjects.cpp
index 04b08575364..db5d6fa1347 100644
--- a/source/gameengine/Ketsji/KX_ConvertPhysicsObjects.cpp
+++ b/source/gameengine/Ketsji/KX_ConvertPhysicsObjects.cpp
@@ -133,7 +133,7 @@ void	KX_ConvertSumoObject(	KX_GameObject* gameobj,
 	smmaterial->m_fh_normal = kxmaterial->m_fh_normal;
 	smmaterial->m_fh_spring = kxmaterial->m_fh_spring;
 	smmaterial->m_friction = kxmaterial->m_friction;
-	smmaterial->m_restitution = kxmaterial->m_restitution;
+	smmaterial->m_restitution = 0.f;//kxmaterial->m_restitution;
 
 	SumoPhysicsEnvironment* sumoEnv =
 		(SumoPhysicsEnvironment*)kxscene->GetPhysicsEnvironment();
@@ -911,9 +911,8 @@ void	KX_ConvertBulletObject(	class	KX_GameObject* gameobj,
 
 			halfExtents /= 2.f;
 
-			SimdVector3 he (halfExtents[0]-CONVEX_DISTANCE_MARGIN ,halfExtents[1]-CONVEX_DISTANCE_MARGIN ,halfExtents[2]-CONVEX_DISTANCE_MARGIN );
-			he = he.absolute();
-
+			//todo: do this conversion internally !
+			SimdVector3 he (halfExtents[0],halfExtents[1],halfExtents[2]);
 
 			bm = new BoxShape(he);
 			bm->CalculateLocalInertia(ci.m_mass,ci.m_localInertiaTensor);
@@ -957,7 +956,7 @@ void	KX_ConvertBulletObject(	class	KX_GameObject* gameobj,
 				if (bm)
 				{
 					bm->CalculateLocalInertia(ci.m_mass,ci.m_localInertiaTensor);
-					bm->SetMargin(0.f);
+					bm->SetMargin(0.05f);
 				}
 				break;
 			}
@@ -1005,8 +1004,8 @@ void	KX_ConvertBulletObject(	class	KX_GameObject* gameobj,
 	ci.m_restitution = smmaterial->m_restitution;
 
 
-	ci.m_linearDamping = shapeprops->m_lin_drag;
-	ci.m_angularDamping = shapeprops->m_ang_drag;
+	ci.m_linearDamping = 0.5;//shapeprops->m_lin_drag;
+	ci.m_angularDamping = 0.5f;//shapeprops->m_ang_drag;
 
 	KX_BulletPhysicsController* physicscontroller = new KX_BulletPhysicsController(ci,dyna);
 	env->addCcdPhysicsController( physicscontroller);
diff --git a/source/gameengine/Ketsji/KX_PythonInit.cpp b/source/gameengine/Ketsji/KX_PythonInit.cpp
index fedd45c65e8..63896b063ee 100644
--- a/source/gameengine/Ketsji/KX_PythonInit.cpp
+++ b/source/gameengine/Ketsji/KX_PythonInit.cpp
@@ -62,7 +62,7 @@
 
 #include "KX_PyMath.h"
 
-#include "SumoPhysicsEnvironment.h"
+#include "PHY_IPhysicsEnvironment.h"
 // FIXME: Enable for access to blender python modules.  This is disabled because
 // python has dependencies on a lot of other modules and is a pain to link.
 //#define USE_BLENDER_PYTHON
@@ -227,6 +227,22 @@ static PyObject* gPySetPhysicsTicRate(PyObject*,
 	return NULL;
 }
 
+static PyObject* gPySetPhysicsDebug(PyObject*,
+					PyObject* args,
+					PyObject*)
+{
+	int debugMode;
+	if (PyArg_ParseTuple(args, "i", &debugMode))
+	{
+		PHY_GetActiveEnvironment()->setDebugMode(debugMode);
+		Py_Return;
+	}
+	
+	return NULL;
+}
+
+
+
 static PyObject* gPyGetPhysicsTicRate(PyObject*, PyObject*, PyObject*)
 {
 	return PyFloat_FromDouble(PHY_GetActiveEnvironment()->getFixedTimeStep());
diff --git a/source/gameengine/Physics/Bullet/CcdPhysicsController.cpp b/source/gameengine/Physics/Bullet/CcdPhysicsController.cpp
index 8b423204bec..19c4632820c 100644
--- a/source/gameengine/Physics/Bullet/CcdPhysicsController.cpp
+++ b/source/gameengine/Physics/Bullet/CcdPhysicsController.cpp
@@ -31,7 +31,7 @@ CcdPhysicsController::CcdPhysicsController (const CcdConstructionInfo& ci)
 
 	MassProps mp(ci.m_mass, ci.m_localInertiaTensor);
 
-	m_body = new RigidBody(mp,0,0);
+	m_body = new RigidBody(mp,0,0,ci.m_friction,ci.m_restitution);
 	
 	m_broadphaseHandle = ci.m_broadphaseHandle;
 
@@ -44,12 +44,10 @@ CcdPhysicsController::CcdPhysicsController (const CcdConstructionInfo& ci)
 	m_body->setMassProps(ci.m_mass, ci.m_localInertiaTensor);
 	m_body->setGravity( ci.m_gravity);
 
-	m_friction = ci.m_friction;
-	m_restitution = ci.m_restitution;
-
+	
 	m_body->setDamping(ci.m_linearDamping, ci.m_angularDamping);
 
-	
+
 	m_body->setCenterOfMassTransform( trans );
 
 	#ifdef WIN32
diff --git a/source/gameengine/Physics/Bullet/CcdPhysicsController.h b/source/gameengine/Physics/Bullet/CcdPhysicsController.h
index 3a8590e261c..235931ebab4 100644
--- a/source/gameengine/Physics/Bullet/CcdPhysicsController.h
+++ b/source/gameengine/Physics/Bullet/CcdPhysicsController.h
@@ -15,7 +15,6 @@ struct CcdConstructionInfo
 	CcdConstructionInfo()
 		: m_gravity(0,0,0),
 		m_mass(0.f),
-		m_friction(0.1f),
 		m_restitution(0.1f),
 		m_linearDamping(0.1f),
 		m_angularDamping(0.1f),
@@ -27,9 +26,8 @@ struct CcdConstructionInfo
 	SimdVector3	m_localInertiaTensor;
 	SimdVector3	m_gravity;
 	SimdScalar	m_mass;
-	SimdScalar	m_friction;
 	SimdScalar	m_restitution;
-	
+	SimdScalar	m_friction;
 	SimdScalar	m_linearDamping;
 	SimdScalar	m_angularDamping;
 	void*		m_broadphaseHandle;
@@ -54,8 +52,6 @@ class CcdPhysicsController : public PHY_IPhysicsController
 	
 		int				m_collisionDelay;
 	
-		SimdScalar	m_friction;
-		SimdScalar	m_restitution;
 		void*  m_broadphaseHandle;
 
 		CcdPhysicsController (const CcdConstructionInfo& ci);
diff --git a/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.cpp b/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.cpp
index a4c9df51466..fa4f45cab43 100644
--- a/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.cpp
+++ b/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.cpp
@@ -14,6 +14,7 @@
 #include "ConstraintSolver/OdeConstraintSolver.h"
 #include "ConstraintSolver/SimpleConstraintSolver.h"
 
+#include "IDebugDraw.h"
 
 
 #include "CollisionDispatch/ToiContactDispatcher.h"
@@ -32,7 +33,7 @@ bool useIslands = true;
 //#include "BroadphaseCollision/QueryBox.h"
 //todo: change this to allow dynamic registration of types!
 
-unsigned long gNumIterations = 10;
+unsigned long gNumIterations = 20;
 
 #ifdef WIN32
 void DrawRasterizerLine(const float* from,const float* to,int color);
@@ -48,7 +49,7 @@ void DrawRasterizerLine(const float* from,const float* to,int color);
 
 
 
-static void DrawAabb(PHY_IPhysicsDebugDraw* debugDrawer,const SimdVector3& from,const SimdVector3& to,const SimdVector3& color)
+static void DrawAabb(IDebugDraw* debugDrawer,const SimdVector3& from,const SimdVector3& to,const SimdVector3& color)
 {
 	SimdVector3 halfExtents = (to-from)* 0.5f;
 	SimdVector3 center = (to+from) *0.5f;
@@ -313,10 +314,6 @@ bool	CcdPhysicsEnvironment::proceedDeltaTime(double curTime,float timeStep)
 		//m_scalingPropagated = true;
 	}
 
-#ifdef EXTRA_PHYSICS_PROFILE
-	cpuProfile.begin("integrate force");
-#endif //EXTRA_PHYSICS_PROFILE
-
 
 
 	{
@@ -338,9 +335,6 @@ bool	CcdPhysicsEnvironment::proceedDeltaTime(double curTime,float timeStep)
 			
 		}
 	}
-#ifdef EXTRA_PHYSICS_PROFILE
-	cpuProfile.end("integrate force");
-#endif //EXTRA_PHYSICS_PROFILE
 	BroadphaseInterface*	scene = m_broadphase;
 	
 	
@@ -358,33 +352,22 @@ bool	CcdPhysicsEnvironment::proceedDeltaTime(double curTime,float timeStep)
 	DispatcherInfo dispatchInfo;
 	dispatchInfo.m_timeStep = timeStep;
 	dispatchInfo.m_stepCount = 0;
-#ifdef EXTRA_PHYSICS_PROFILE
-	cpuProfile.begin("cd");
-#endif //EXTRA_PHYSICS_PROFILE
 
 	scene->DispatchAllCollisionPairs(*m_dispatcher,dispatchInfo);///numsubstep,g);
 
-#ifdef EXTRA_PHYSICS_PROFILE
-	cpuProfile.end("cd");
-#endif //EXTRA_PHYSICS_PROFILE
 
 
 	
 		
-#ifdef EXTRA_PHYSICS_PROFILE
-	cpuProfile.begin("solver");
-#endif //EXTRA_PHYSICS_PROFILE
 	
 	int numRigidBodies = m_controllers.size();
 	
 	UpdateActivationState();
 
 	//contacts
-	m_dispatcher->SolveConstraints(timeStep, gNumIterations ,numRigidBodies);
+
 	
-#ifdef EXTRA_PHYSICS_PROFILE
-	cpuProfile.end("solver");
-#endif //EXTRA_PHYSICS_PROFILE
+	m_dispatcher->SolveConstraints(timeStep, gNumIterations ,numRigidBodies,m_debugDrawer);
 
 	for (int g=0;g<numsubstep;g++)
 	{
@@ -558,6 +541,29 @@ bool	CcdPhysicsEnvironment::proceedDeltaTime(double curTime,float timeStep)
 	return true;
 }
 
+void		CcdPhysicsEnvironment::setDebugMode(int debugMode)
+{
+	if (debugMode > 10)
+	{
+		if (m_dispatcher)
+			delete m_dispatcher;
+
+		if (debugMode == 11)
+		{
+			SimpleConstraintSolver* solver= new SimpleConstraintSolver();
+			m_dispatcher = new ToiContactDispatcher(solver);
+		} else
+		{
+			OdeConstraintSolver* solver = new OdeConstraintSolver();
+			m_dispatcher = new ToiContactDispatcher(solver);
+		}
+	}
+	if (m_debugDrawer){
+		m_debugDrawer->SetDebugMode(debugMode);
+	}
+}
+
+
 void	CcdPhysicsEnvironment::SyncMotionStates(float timeStep)
 {
 	std::vector<CcdPhysicsController*>::iterator i;
diff --git a/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.h b/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.h
index 88cf4b495cf..be6f6c648c7 100644
--- a/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.h
+++ b/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.h
@@ -6,10 +6,6 @@
 class CcdPhysicsController;
 #include "SimdVector3.h"
 
-struct	PHY_IPhysicsDebugDraw
-{
-	virtual void	DrawLine(const SimdVector3& from,const SimdVector3& to,const SimdVector3& color)=0;
-};
 
 
 class Point2PointConstraint;
@@ -20,6 +16,7 @@ class Dispatcher;
 class Vehicle;
 class PersistentManifold;
 class BroadphaseInterface;
+class IDebugDraw;
 
 /// Physics Environment takes care of stepping the simulation and is a container for physics entities.
 /// It stores rigidbodies,constraints, materials etc.
@@ -28,7 +25,7 @@ class CcdPhysicsEnvironment : public PHY_IPhysicsEnvironment
 {
 	SimdVector3 m_gravity;
 	BroadphaseInterface*	m_broadphase;
-	PHY_IPhysicsDebugDraw*	m_debugDrawer;
+	IDebugDraw*	m_debugDrawer;
 	
 	public:
 		CcdPhysicsEnvironment(ToiContactDispatcher* dispatcher=0, BroadphaseInterface* broadphase=0);
@@ -41,7 +38,7 @@ class CcdPhysicsEnvironment : public PHY_IPhysicsEnvironment
 
 		/// Perform an integration step of duration 'timeStep'.
 
-		virtual void setDebugDrawer(PHY_IPhysicsDebugDraw* debugDrawer)
+		virtual void setDebugDrawer(IDebugDraw* debugDrawer)
 		{
 			m_debugDrawer = debugDrawer;
 		}
@@ -53,8 +50,11 @@ class CcdPhysicsEnvironment : public PHY_IPhysicsEnvironment
 		virtual	bool		proceedDeltaTime(double curTime,float timeStep);
 		virtual	void		setFixedTimeStep(bool useFixedTimeStep,float fixedTimeStep){};
 		//returns 0.f if no fixed timestep is used
+
 		virtual	float		getFixedTimeStep(){ return 0.f;};
 
+		virtual void		setDebugMode(int debugMode);
+
 		virtual	void		setGravity(float x,float y,float z);
 
 		virtual int			createConstraint(class PHY_IPhysicsController* ctrl,class PHY_IPhysicsController* ctrl2,PHY_ConstraintType type,
@@ -116,6 +116,7 @@ class CcdPhysicsEnvironment : public PHY_IPhysicsEnvironment
 
 		bool	m_scalingPropagated;
 
+
 };
 
 #endif //CCDPHYSICSENVIRONMENT
diff --git a/source/gameengine/Physics/common/PHY_IPhysicsEnvironment.h b/source/gameengine/Physics/common/PHY_IPhysicsEnvironment.h
index 2ffcf80a62b..ca856598772 100644
--- a/source/gameengine/Physics/common/PHY_IPhysicsEnvironment.h
+++ b/source/gameengine/Physics/common/PHY_IPhysicsEnvironment.h
@@ -51,7 +51,7 @@ class PHY_IPhysicsEnvironment
 		//returns 0.f if no fixed timestep is used
 		virtual	float		getFixedTimeStep()=0;
 
-
+		virtual void		setDebugMode(int debugMode) {}
 		virtual	void		setGravity(float x,float y,float z)=0;
 
 		virtual int			createConstraint(class PHY_IPhysicsController* ctrl,class PHY_IPhysicsController* ctrl2,PHY_ConstraintType type,