diff options
Diffstat (limited to 'source/gameengine/Ketsji/KX_BulletPhysicsController.cpp')
| -rw-r--r-- | source/gameengine/Ketsji/KX_BulletPhysicsController.cpp | 98 |
1 files changed, 82 insertions, 16 deletions
diff --git a/source/gameengine/Ketsji/KX_BulletPhysicsController.cpp b/source/gameengine/Ketsji/KX_BulletPhysicsController.cpp index aa5d1f1cec1..bf838e60210 100644 --- a/source/gameengine/Ketsji/KX_BulletPhysicsController.cpp +++ b/source/gameengine/Ketsji/KX_BulletPhysicsController.cpp @@ -13,18 +13,32 @@ #include "KX_ClientObjectInfo.h" #include "PHY_IPhysicsEnvironment.h" +#include "CcdPhysicsEnvironment.h" +#include "BulletSoftBody/btSoftBody.h" KX_BulletPhysicsController::KX_BulletPhysicsController (const CcdConstructionInfo& ci, bool dyna) : KX_IPhysicsController(dyna,(PHY_IPhysicsController*)this), -CcdPhysicsController(ci) +CcdPhysicsController(ci), +m_savedCollisionFlags(0) { } KX_BulletPhysicsController::~KX_BulletPhysicsController () { - + // The game object has a direct link to + if (m_pObject) + { + // If we cheat in SetObject, we must also cheat here otherwise the + // object will still things it has a physical controller + // Note that it requires that m_pObject is reset in case the object is deleted + // before the controller (usual case, see KX_Scene::RemoveNodeDestructObjec) + // The non usual case is when the object is not deleted because its reference is hanging + // in a AddObject actuator but the node is deleted. This case is covered here. + KX_GameObject* gameobj = (KX_GameObject*) m_pObject->GetSGClientObject(); + gameobj->SetPhysicsController(NULL,false); + } } void KX_BulletPhysicsController::resolveCombinedVelocities(float linvelX,float linvelY,float linvelZ,float angVelX,float angVelY,float angVelZ) @@ -58,6 +72,7 @@ void KX_BulletPhysicsController::SetObject (SG_IObject* object) } + void KX_BulletPhysicsController::setMargin (float collisionMargin) { CcdPhysicsController::SetMargin(collisionMargin); @@ -90,10 +105,17 @@ MT_Vector3 KX_BulletPhysicsController::GetLinearVelocity() CcdPhysicsController::GetLinearVelocity(angVel[0],angVel[1],angVel[2]);//rcruiz return MT_Vector3(angVel[0],angVel[1],angVel[2]); } +MT_Vector3 KX_BulletPhysicsController::GetAngularVelocity() +{ + float angVel[3]; + //CcdPhysicsController::GetAngularVelocity(angVel[0],angVel[1],angVel[2]); + CcdPhysicsController::GetAngularVelocity(angVel[0],angVel[1],angVel[2]);//rcruiz + return MT_Vector3(angVel[0],angVel[1],angVel[2]); +} MT_Vector3 KX_BulletPhysicsController::GetVelocity(const MT_Point3& pos) { float linVel[3]; - CcdPhysicsController::GetLinearVelocity(linVel[0],linVel[1],linVel[2]); + CcdPhysicsController::GetVelocity(pos[0], pos[1], pos[2], linVel[0],linVel[1],linVel[2]); return MT_Vector3(linVel[0],linVel[1],linVel[2]); } @@ -112,9 +134,10 @@ void KX_BulletPhysicsController::getOrientation(MT_Quaternion& orn) CcdPhysicsController::getOrientation(myorn[0],myorn[1],myorn[2],myorn[3]); orn = MT_Quaternion(myorn[0],myorn[1],myorn[2],myorn[3]); } -void KX_BulletPhysicsController::setOrientation(const MT_Quaternion& orn) +void KX_BulletPhysicsController::setOrientation(const MT_Matrix3x3& orn) { - CcdPhysicsController::setOrientation(orn.x(),orn.y(),orn.z(),orn.w()); + btMatrix3x3 btmat(orn[0][0], orn[0][1], orn[0][2], orn[1][0], orn[1][1], orn[1][2], orn[2][0], orn[2][1], orn[2][2]); + CcdPhysicsController::setWorldOrientation(btmat); } void KX_BulletPhysicsController::setPosition(const MT_Point3& pos) { @@ -126,13 +149,23 @@ void KX_BulletPhysicsController::setScaling(const MT_Vector3& scaling) } MT_Scalar KX_BulletPhysicsController::GetMass() { - - MT_Scalar invmass = GetRigidBody()->getInvMass(); + if (GetSoftBody()) + return GetSoftBody()->getTotalMass(); + + MT_Scalar invmass = 0.f; + if (GetRigidBody()) + invmass = GetRigidBody()->getInvMass(); if (invmass) return 1.f/invmass; return 0.f; } + +MT_Scalar KX_BulletPhysicsController::GetRadius() +{ + return MT_Scalar(CcdPhysicsController::GetRadius()); +} + MT_Vector3 KX_BulletPhysicsController::getReactionForce() { assert(0); @@ -142,14 +175,37 @@ void KX_BulletPhysicsController::setRigidBody(bool rigid) { } -void KX_BulletPhysicsController::SuspendDynamics() +void KX_BulletPhysicsController::SuspendDynamics(bool ghost) { - GetRigidBody()->setActivationState(DISABLE_SIMULATION); - + btRigidBody *body = GetRigidBody(); + if (body && body->getActivationState() != DISABLE_SIMULATION) + { + 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); + } } + void KX_BulletPhysicsController::RestoreDynamics() { - GetRigidBody()->forceActivationState(ACTIVE_TAG); + btRigidBody *body = GetRigidBody(); + if (body && body->getActivationState() == DISABLE_SIMULATION) + { + GetPhysicsEnvironment()->updateCcdPhysicsController(this, + m_savedMass, + m_savedCollisionFlags, + m_savedCollisionFilterGroup, + m_savedCollisionFilterMask); + GetRigidBody()->forceActivationState(ACTIVE_TAG); + } } SG_Controller* KX_BulletPhysicsController::GetReplica(class SG_Node* destnode) @@ -161,6 +217,9 @@ SG_Controller* KX_BulletPhysicsController::GetReplica(class SG_Node* destnode) //parentcontroller is here be able to avoid collisions between parent/child PHY_IPhysicsController* parentctrl = NULL; + KX_BulletPhysicsController* parentKxCtrl = NULL; + CcdPhysicsController* ccdParent = NULL; + if (destnode != destnode->GetRootSGParent()) { @@ -180,12 +239,15 @@ SG_Controller* KX_BulletPhysicsController::GetReplica(class SG_Node* destnode) KX_GameObject *clientgameobj = static_cast<KX_GameObject*>( (*childit)->GetSGClientObject()); if (clientgameobj) { - parentctrl = (KX_BulletPhysicsController*)clientgameobj->GetPhysicsController(); + parentKxCtrl = (KX_BulletPhysicsController*)clientgameobj->GetPhysicsController(); + parentctrl = parentKxCtrl; + ccdParent = parentKxCtrl; } } } } + physicsreplica->setParentCtrl(ccdParent); physicsreplica->PostProcessReplica(motionstate,parentctrl); physicsreplica->m_userdata = (PHY_IPhysicsController*)physicsreplica; return physicsreplica; @@ -196,18 +258,22 @@ SG_Controller* KX_BulletPhysicsController::GetReplica(class SG_Node* destnode) void KX_BulletPhysicsController::SetSumoTransform(bool nondynaonly) { - GetRigidBody()->activate(true); + if (GetRigidBody()) + GetRigidBody()->activate(true); if (!m_bDyna) { - GetRigidBody()->setCollisionFlags(GetRigidBody()->getCollisionFlags() | btCollisionObject::CF_KINEMATIC_OBJECT); + GetCollisionObject()->setCollisionFlags(GetRigidBody()->getCollisionFlags() | btCollisionObject::CF_KINEMATIC_OBJECT); } else { if (!nondynaonly) { btTransform worldTrans; - GetRigidBody()->getMotionState()->getWorldTransform(worldTrans); - GetRigidBody()->setCenterOfMassTransform(worldTrans); + if (GetRigidBody()) + { + GetRigidBody()->getMotionState()->getWorldTransform(worldTrans); + GetRigidBody()->setCenterOfMassTransform(worldTrans); + } /* scaling? |