diff options
-rw-r--r-- | source/gameengine/Ketsji/KX_RadarSensor.cpp | 14 | ||||
-rw-r--r-- | source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.cpp | 18 |
2 files changed, 16 insertions, 16 deletions
diff --git a/source/gameengine/Ketsji/KX_RadarSensor.cpp b/source/gameengine/Ketsji/KX_RadarSensor.cpp index de4979ac4c9..d371626b597 100644 --- a/source/gameengine/Ketsji/KX_RadarSensor.cpp +++ b/source/gameengine/Ketsji/KX_RadarSensor.cpp @@ -147,23 +147,23 @@ void KX_RadarSensor::SynchronizeTransform() }; case 3: // -X Axis { - MT_Quaternion rotquatje(MT_Vector3(0,0,1),MT_radians(90)); + MT_Quaternion rotquatje(MT_Vector3(0,0,1),MT_radians(-90)); trans.rotate(rotquatje); - trans.translate(MT_Vector3 (0, m_coneheight/2.0 ,0)); + trans.translate(MT_Vector3 (0, -m_coneheight/2.0 ,0)); break; }; case 4: // -Y Axis { - MT_Quaternion rotquatje(MT_Vector3(1,0,0),MT_radians(-180)); - trans.rotate(rotquatje); - trans.translate(MT_Vector3 (0, m_coneheight/2.0 ,0)); + //MT_Quaternion rotquatje(MT_Vector3(1,0,0),MT_radians(-180)); + //trans.rotate(rotquatje); + trans.translate(MT_Vector3 (0, -m_coneheight/2.0 ,0)); break; }; case 5: // -Z Axis { - MT_Quaternion rotquatje(MT_Vector3(1,0,0),MT_radians(-90)); + MT_Quaternion rotquatje(MT_Vector3(1,0,0),MT_radians(90)); trans.rotate(rotquatje); - trans.translate(MT_Vector3 (0, m_coneheight/2.0 ,0)); + trans.translate(MT_Vector3 (0, -m_coneheight/2.0 ,0)); break; }; default: diff --git a/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.cpp b/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.cpp index 0a37a461c59..dfbcf115fd7 100644 --- a/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.cpp +++ b/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.cpp @@ -966,15 +966,6 @@ void CcdPhysicsEnvironment::CallbackTriggers() { btRigidBody* rb0 = static_cast<btRigidBody*>(manifold->getBody0()); btRigidBody* rb1 = static_cast<btRigidBody*>(manifold->getBody1()); - // Bullet does not refresh the manifold contact point for object without contact response - // may need to remove this when a newer Bullet version is integrated - if (!dispatcher->needsResponse(rb0, rb1)) - { - manifold->refreshContactPoints(rb0->getCenterOfMassTransform(),rb1->getCenterOfMassTransform()); - numContacts = manifold->getNumContacts(); - if (!numContacts) - continue; - } if (m_debugDrawer && (m_debugDrawer->getDebugMode() & btIDebugDraw::DBG_DrawContactPoints)) { for (int j=0;j<numContacts;j++) @@ -1003,6 +994,15 @@ void CcdPhysicsEnvironment::CallbackTriggers() m_triggerCallbacks[PHY_OBJECT_RESPONSE](m_triggerCallbacksUserPtrs[PHY_OBJECT_RESPONSE], ctrl0,ctrl1,0); } + // Bullet does not refresh the manifold contact point for object without contact response + // may need to remove this when a newer Bullet version is integrated + if (!dispatcher->needsResponse(rb0, rb1)) + { + // Refresh algorithm fails sometimes when there is penetration + // (usuall the case with ghost and sensor objects) + // Let's just clear the manifold, in any case, it is recomputed on each frame. + manifold->clearManifold(); //refreshContactPoints(rb0->getCenterOfMassTransform(),rb1->getCenterOfMassTransform()); + } } } |