fixed some motionstate synchronization issues

nearsensor was not synchronized at the start
wheels not synchronized properly (one frame delay)

6 files changed, 15 insertions, 8 deletions

diff --git a/source/gameengine/Ketsji/KX_MotionState.cpp b/source/gameengine/Ketsji/KX_MotionState.cpp
index 14849ef704c..cd01c0466cd 100644
--- a/source/gameengine/Ketsji/KX_MotionState.cpp
+++ b/source/gameengine/Ketsji/KX_MotionState.cpp
@@ -73,7 +73,7 @@ void	KX_MotionState::getWorldOrientation(float& quatIma0,float& quatIma1,float&
 void	KX_MotionState::setWorldPosition(float posX,float posY,float posZ)
 {
 	m_node->SetLocalPosition(MT_Point3(posX,posY,posZ));
-	//m_node->SetWorldPosition(MT_Point3(posX,posY,posZ));
+	m_node->SetWorldPosition(MT_Point3(posX,posY,posZ));
 }
 
 void	KX_MotionState::setWorldOrientation(float quatIma0,float quatIma1,float quatIma2,float quatReal)
@@ -85,7 +85,7 @@ void	KX_MotionState::setWorldOrientation(float quatIma0,float quatIma1,float qua
 	orn[3] = quatReal;
 
 	m_node->SetLocalOrientation(orn);
-	//m_node->SetWorldOrientation(orn);
+	m_node->SetWorldOrientation(orn);
 
 }
 
diff --git a/source/gameengine/Ketsji/KX_NearSensor.cpp b/source/gameengine/Ketsji/KX_NearSensor.cpp
index fac2302b85e..34561045cab 100644
--- a/source/gameengine/Ketsji/KX_NearSensor.cpp
+++ b/source/gameengine/Ketsji/KX_NearSensor.cpp
@@ -116,6 +116,7 @@ CValue* KX_NearSensor::GetReplica()
 	//replica->m_sumoObj->setMargin(m_Margin);
 	//replica->m_sumoObj->setClientObject(replica->m_client_info);
 	
+	((KX_GameObject*)replica->GetParent())->GetSGNode()->ComputeWorldTransforms(NULL);
 	replica->SynchronizeTransform();
 	
 	return replica;
@@ -139,7 +140,7 @@ void KX_NearSensor::ReParent(SCA_IObject* parent)
 	client_info->m_sensors.push_back(this);
 	SCA_ISensor::ReParent(parent);
 */
-
+	((KX_GameObject*)GetParent())->GetSGNode()->ComputeWorldTransforms(NULL);
 	SynchronizeTransform();
 }
 
diff --git a/source/gameengine/Ketsji/KX_RadarSensor.cpp b/source/gameengine/Ketsji/KX_RadarSensor.cpp
index eae9784935c..5d56eaabb5a 100644
--- a/source/gameengine/Ketsji/KX_RadarSensor.cpp
+++ b/source/gameengine/Ketsji/KX_RadarSensor.cpp
@@ -103,6 +103,7 @@ CValue* KX_RadarSensor::GetReplica()
 	//replica->m_sumoObj->setMargin(m_Margin);
 	//replica->m_sumoObj->setClientObject(replica->m_client_info);
 	
+	((KX_GameObject*)replica->GetParent())->GetSGNode()->ComputeWorldTransforms(NULL);
 	replica->SynchronizeTransform();
 	
 	return replica;
diff --git a/source/gameengine/Ketsji/KX_TouchSensor.cpp b/source/gameengine/Ketsji/KX_TouchSensor.cpp
index 3cd5097ebb7..5b013e75e4e 100644
--- a/source/gameengine/Ketsji/KX_TouchSensor.cpp
+++ b/source/gameengine/Ketsji/KX_TouchSensor.cpp
@@ -54,8 +54,10 @@ void KX_TouchSensor::SynchronizeTransform()
 
 	if (m_physCtrl)
 	{
-		MT_Vector3 pos = ((KX_GameObject*)GetParent())->NodeGetWorldPosition();
-		MT_Quaternion orn = ((KX_GameObject*)GetParent())->NodeGetWorldOrientation().getRotation();
+
+		KX_GameObject* parent = ((KX_GameObject*)GetParent());
+		MT_Vector3 pos = parent->NodeGetWorldPosition();
+		MT_Quaternion orn = parent->NodeGetWorldOrientation().getRotation();
 		m_physCtrl->setPosition(pos.x(),pos.y(),pos.z());
 		m_physCtrl->setOrientation(orn.x(),orn.y(),orn.z(),orn.w());
 		m_physCtrl->calcXform();
diff --git a/source/gameengine/Physics/Bullet/CcdPhysicsController.cpp b/source/gameengine/Physics/Bullet/CcdPhysicsController.cpp
index f6a087887f9..3ddac72618d 100644
--- a/source/gameengine/Physics/Bullet/CcdPhysicsController.cpp
+++ b/source/gameengine/Physics/Bullet/CcdPhysicsController.cpp
@@ -99,7 +99,7 @@ public:
 		m_blenderMotionState->setWorldPosition(worldTrans.getOrigin().getX(),worldTrans.getOrigin().getY(),worldTrans.getOrigin().getZ());
 		btQuaternion rotQuat = worldTrans.getRotation();
 		m_blenderMotionState->setWorldOrientation(rotQuat[0],rotQuat[1],rotQuat[2],rotQuat[3]);
-
+		m_blenderMotionState->calculateWorldTransformations();
 	}
 
 };
diff --git a/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.cpp b/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.cpp
index 418271a5c46..edd4c2e2bb4 100644
--- a/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.cpp
+++ b/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.cpp
@@ -108,7 +108,8 @@ public:
 		{
 			btWheelInfo& info = m_vehicle->getWheelInfo(i);
 			PHY_IMotionState* motionState = (PHY_IMotionState*)info.m_clientInfo ;
-			m_vehicle->updateWheelTransform(i,true);
+	//		m_vehicle->updateWheelTransformsWS(info,false);
+			m_vehicle->updateWheelTransform(i,false);
 			btTransform trans = m_vehicle->getWheelInfo(i).m_worldTransform;
 			btQuaternion orn = trans.getRotation();
 			const btVector3& pos = trans.getOrigin();
@@ -463,7 +464,7 @@ bool	CcdPhysicsEnvironment::proceedDeltaTime(double curTime,float timeStep)
 	for (i=0;i<numCtrl;i++)
 	{
 		CcdPhysicsController* ctrl = GetPhysicsController(i);
-		//ctrl->SynchronizeMotionStates(timeStep);
+		ctrl->SynchronizeMotionStates(timeStep);
 	}
 
 	for (i=0;i<m_wrapperVehicles.size();i++)
@@ -829,6 +830,8 @@ void CcdPhysicsEnvironment::addSensor(PHY_IPhysicsController* ctrl)
 	}
 	//force collision detection with everything, including static objects (might hurt performance!)
 	ctrl1->GetRigidBody()->getBroadphaseHandle()->m_collisionFilterMask = btBroadphaseProxy::AllFilter;
+	ctrl1->GetRigidBody()->getBroadphaseHandle()->m_collisionFilterGroup = btBroadphaseProxy::AllFilter;
+	//todo: make this 'sensor'!
 
 	requestCollisionCallback(ctrl);
 	//printf("addSensor\n");