diff options
6 files changed, 51 insertions, 16 deletions
diff --git a/source/gameengine/Ketsji/KX_BulletPhysicsController.cpp b/source/gameengine/Ketsji/KX_BulletPhysicsController.cpp index e25deaf05a9..1553c4c61c2 100644 --- a/source/gameengine/Ketsji/KX_BulletPhysicsController.cpp +++ b/source/gameengine/Ketsji/KX_BulletPhysicsController.cpp @@ -170,10 +170,12 @@ void KX_BulletPhysicsController::SuspendDynamics(bool ghost) { btBroadphaseProxy* handle = body->getBroadphaseHandle(); m_savedCollisionFlags = body->getCollisionFlags(); + m_savedMass = GetMass(); m_savedCollisionFilterGroup = handle->m_collisionFilterGroup; m_savedCollisionFilterMask = handle->m_collisionFilterMask; body->setActivationState(DISABLE_SIMULATION); GetPhysicsEnvironment()->updateCcdPhysicsController(this, + 0.0, btCollisionObject::CF_STATIC_OBJECT|((ghost)?btCollisionObject::CF_NO_CONTACT_RESPONSE:(m_savedCollisionFlags&btCollisionObject::CF_NO_CONTACT_RESPONSE)), btBroadphaseProxy::StaticFilter, btBroadphaseProxy::AllFilter ^ btBroadphaseProxy::StaticFilter); @@ -185,11 +187,12 @@ void KX_BulletPhysicsController::RestoreDynamics() btRigidBody *body = GetRigidBody(); if (body->getActivationState() == DISABLE_SIMULATION) { - GetRigidBody()->forceActivationState(ACTIVE_TAG); GetPhysicsEnvironment()->updateCcdPhysicsController(this, + m_savedMass, m_savedCollisionFlags, m_savedCollisionFilterGroup, m_savedCollisionFilterMask); + GetRigidBody()->forceActivationState(ACTIVE_TAG); } } diff --git a/source/gameengine/Ketsji/KX_BulletPhysicsController.h b/source/gameengine/Ketsji/KX_BulletPhysicsController.h index 3d7c7e5b030..93ee03660db 100644 --- a/source/gameengine/Ketsji/KX_BulletPhysicsController.h +++ b/source/gameengine/Ketsji/KX_BulletPhysicsController.h @@ -11,6 +11,8 @@ private: int m_savedCollisionFlags; short int m_savedCollisionFilterGroup; short int m_savedCollisionFilterMask; + MT_Scalar m_savedMass; + public: KX_BulletPhysicsController (const CcdConstructionInfo& ci, bool dyna); diff --git a/source/gameengine/Ketsji/KX_GameObject.cpp b/source/gameengine/Ketsji/KX_GameObject.cpp index 1845fdd7b50..6f225304440 100644 --- a/source/gameengine/Ketsji/KX_GameObject.cpp +++ b/source/gameengine/Ketsji/KX_GameObject.cpp @@ -224,6 +224,10 @@ void KX_GameObject::SetParent(KX_Scene *scene, KX_GameObject* obj) RemoveParent(scene); obj->GetSGNode()->AddChild(GetSGNode()); + if (m_pPhysicsController1) + { + m_pPhysicsController1->SuspendDynamics(true); + } // Set us to our new scale, position, and orientation scale1[0] = scale1[0]/scale2[0]; scale1[1] = scale1[1]/scale2[1]; @@ -240,10 +244,6 @@ void KX_GameObject::SetParent(KX_Scene *scene, KX_GameObject* obj) if (rootlist->RemoveValue(this)) // the object was in parent list, decrement ref count as it's now removed Release(); - if (m_pPhysicsController1) - { - m_pPhysicsController1->SuspendDynamics(true); - } } } @@ -724,8 +724,12 @@ MT_Vector3 KX_GameObject::GetAngularVelocity(bool local) void KX_GameObject::NodeSetLocalPosition(const MT_Point3& trans) { - if (m_pPhysicsController1) + if (m_pPhysicsController1 && (!GetSGNode() || !GetSGNode()->GetSGParent())) { + // don't update physic controller if the object is a child: + // 1) the transformation will not be right + // 2) in this case, the physic controller is necessarily a static object + // that is updated from the normal kinematic synchronization m_pPhysicsController1->setPosition(trans); } @@ -737,25 +741,22 @@ void KX_GameObject::NodeSetLocalPosition(const MT_Point3& trans) void KX_GameObject::NodeSetLocalOrientation(const MT_Matrix3x3& rot) { - if (m_pPhysicsController1) + if (m_pPhysicsController1 && (!GetSGNode() || !GetSGNode()->GetSGParent())) { + // see note above m_pPhysicsController1->setOrientation(rot.getRotation()); } if (GetSGNode()) GetSGNode()->SetLocalOrientation(rot); - else - { - int i; - i=0; - } } void KX_GameObject::NodeSetLocalScale(const MT_Vector3& scale) { - if (m_pPhysicsController1) + if (m_pPhysicsController1 && (!GetSGNode() || !GetSGNode()->GetSGParent())) { + // see note above m_pPhysicsController1->setScaling(scale); } diff --git a/source/gameengine/Physics/Bullet/CcdPhysicsController.h b/source/gameengine/Physics/Bullet/CcdPhysicsController.h index 37fa465351f..abb71956f5a 100644 --- a/source/gameengine/Physics/Bullet/CcdPhysicsController.h +++ b/source/gameengine/Physics/Bullet/CcdPhysicsController.h @@ -106,6 +106,7 @@ class CcdPhysicsController : public PHY_IPhysicsController btRigidBody* m_body; class PHY_IMotionState* m_MotionState; btMotionState* m_bulletMotionState; + friend class CcdPhysicsEnvironment; // needed when updating the controller void* m_newClientInfo; @@ -194,7 +195,6 @@ class CcdPhysicsController : public PHY_IPhysicsController return m_cci.m_collisionFilterMask; } - virtual void calcXform() {} ; virtual void SetMargin(float margin) {}; virtual float GetMargin() const {return 0.f;}; diff --git a/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.cpp b/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.cpp index 7f5457121ea..b773f40650b 100644 --- a/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.cpp +++ b/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.cpp @@ -466,17 +466,39 @@ void CcdPhysicsEnvironment::removeCcdPhysicsController(CcdPhysicsController* ctr } -void CcdPhysicsEnvironment::updateCcdPhysicsController(CcdPhysicsController* ctrl, int newCollisionFlags, short int newCollisionGroup, short int newCollisionMask) +void CcdPhysicsEnvironment::updateCcdPhysicsController(CcdPhysicsController* ctrl, btScalar newMass, int newCollisionFlags, short int newCollisionGroup, short int newCollisionMask) { // this function is used when the collisionning group of a controller is changed // remove and add the collistioning object btRigidBody* body = ctrl->GetRigidBody(); + btVector3 inertia; m_dynamicsWorld->removeCollisionObject(body); body->setCollisionFlags(newCollisionFlags); + body->getCollisionShape()->calculateLocalInertia(newMass, inertia); + body->setMassProps(newMass, inertia); m_dynamicsWorld->addCollisionObject(body, newCollisionGroup, newCollisionMask); + // to avoid nasty interaction, we must update the property of the controller as well + ctrl->m_cci.m_mass = newMass; + ctrl->m_cci.m_collisionFilterGroup = newCollisionGroup; + ctrl->m_cci.m_collisionFilterMask = newCollisionMask; + ctrl->m_cci.m_collisionFlags = newCollisionFlags; } +void CcdPhysicsEnvironment::enableCcdPhysicsController(CcdPhysicsController* ctrl) +{ + std::vector<CcdPhysicsController*>::iterator i = + std::find(m_controllers.begin(), m_controllers.end(), ctrl); + if (i == m_controllers.end()) + { + btRigidBody* body = ctrl->GetRigidBody(); + m_dynamicsWorld->addCollisionObject(body, + ctrl->GetCollisionFilterGroup(), ctrl->GetCollisionFilterMask()); + } +} + + + void CcdPhysicsEnvironment::beginFrame() { diff --git a/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.h b/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.h index dff17517b85..453749b27b3 100644 --- a/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.h +++ b/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.h @@ -183,7 +183,14 @@ protected: void removeCcdPhysicsController(CcdPhysicsController* ctrl); - void updateCcdPhysicsController(CcdPhysicsController* ctrl, int newCollisionFlags, short int newCollisionGroup, short int newCollisionMask); + void updateCcdPhysicsController(CcdPhysicsController* ctrl, btScalar newMass, int newCollisionFlags, short int newCollisionGroup, short int newCollisionMask); + + void disableCcdPhysicsController(CcdPhysicsController* ctrl) + { + removeCcdPhysicsController(ctrl); + } + + void enableCcdPhysicsController(CcdPhysicsController* ctrl); btBroadphaseInterface* getBroadphase(); |