diff options
Diffstat (limited to 'source/gameengine/Ketsji/KX_BulletPhysicsController.cpp')
| -rw-r--r-- | source/gameengine/Ketsji/KX_BulletPhysicsController.cpp | 58 |
1 files changed, 42 insertions, 16 deletions
diff --git a/source/gameengine/Ketsji/KX_BulletPhysicsController.cpp b/source/gameengine/Ketsji/KX_BulletPhysicsController.cpp index 831f9241fec..748b0667061 100644 --- a/source/gameengine/Ketsji/KX_BulletPhysicsController.cpp +++ b/source/gameengine/Ketsji/KX_BulletPhysicsController.cpp @@ -17,13 +17,17 @@ #include "BulletSoftBody/btSoftBody.h" -KX_BulletPhysicsController::KX_BulletPhysicsController (const CcdConstructionInfo& ci, bool dyna, bool compound) -: KX_IPhysicsController(dyna,compound,(PHY_IPhysicsController*)this), +KX_BulletPhysicsController::KX_BulletPhysicsController (const CcdConstructionInfo& ci, bool dyna, bool sensor, bool compound) +: KX_IPhysicsController(dyna,sensor,compound,(PHY_IPhysicsController*)this), CcdPhysicsController(ci), m_savedCollisionFlags(0), +m_savedCollisionFilterGroup(0), +m_savedCollisionFilterMask(0), +m_savedMass(0.0), +m_savedDyna(false), +m_suspended(false), m_bulletChildShape(NULL) { - } KX_BulletPhysicsController::~KX_BulletPhysicsController () @@ -88,7 +92,13 @@ void KX_BulletPhysicsController::SetObject (SG_IObject* object) gameobj->SetPhysicsController(this,gameobj->IsDynamic()); CcdPhysicsController::setNewClientInfo(gameobj->getClientInfo()); - + if (m_bSensor) + { + // use a different callback function for sensor object, + // bullet will not synchronize, we must do it explicitely + SG_Callbacks& callbacks = gameobj->GetSGNode()->GetCallBackFunctions(); + callbacks.m_updatefunc = KX_GameObject::SynchronizeTransformFunc; + } } MT_Scalar KX_BulletPhysicsController::GetRadius() @@ -170,6 +180,20 @@ void KX_BulletPhysicsController::setScaling(const MT_Vector3& scaling) { CcdPhysicsController::setScaling(scaling.x(),scaling.y(),scaling.z()); } +void KX_BulletPhysicsController::SetTransform() +{ + btVector3 pos; + btVector3 scale; + float ori[12]; + m_MotionState->getWorldPosition(pos.m_floats[0],pos.m_floats[1],pos.m_floats[2]); + m_MotionState->getWorldScaling(scale.m_floats[0],scale.m_floats[1],scale.m_floats[2]); + m_MotionState->getWorldOrientation(ori); + btMatrix3x3 rot(ori[0], ori[4], ori[8], + ori[1], ori[5], ori[9], + ori[2], ori[6], ori[10]); + CcdPhysicsController::forceWorldTransform(rot, pos); +} + MT_Scalar KX_BulletPhysicsController::GetMass() { if (GetSoftBody()) @@ -258,7 +282,7 @@ void KX_BulletPhysicsController::AddCompoundChild(KX_IPhysicsController* chil // add to parent compound shapeinfo GetShapeInfo()->AddShape(proxyShapeInfo); // create new bullet collision shape from the object shapeinfo and set scaling - btCollisionShape* newChildShape = proxyShapeInfo->CreateBulletShape(); + btCollisionShape* newChildShape = proxyShapeInfo->CreateBulletShape(childCtrl->GetMargin()); newChildShape->setLocalScaling(relativeScale); // add bullet collision shape to parent compound collision shape compoundShape->addChildShape(proxyShapeInfo->m_childTrans,newChildShape); @@ -337,8 +361,7 @@ void KX_BulletPhysicsController::RemoveCompoundChild(KX_IPhysicsController* c void KX_BulletPhysicsController::SetMass(MT_Scalar newmass) { btRigidBody *body = GetRigidBody(); - if (body && body->getActivationState() != DISABLE_SIMULATION && - newmass>MT_EPSILON && GetMass()>MT_EPSILON) + if (body && !m_suspended && newmass>MT_EPSILON && GetMass()>MT_EPSILON) { btVector3 grav = body->getGravity(); btVector3 accel = grav / GetMass(); @@ -356,34 +379,37 @@ void KX_BulletPhysicsController::SetMass(MT_Scalar newmass) void KX_BulletPhysicsController::SuspendDynamics(bool ghost) { btRigidBody *body = GetRigidBody(); - if (body && body->getActivationState() != DISABLE_SIMULATION) + if (body && !m_suspended && !IsSensor()) { btBroadphaseProxy* handle = body->getBroadphaseHandle(); m_savedCollisionFlags = body->getCollisionFlags(); m_savedMass = GetMass(); + m_savedDyna = m_bDyna; m_savedCollisionFilterGroup = handle->m_collisionFilterGroup; m_savedCollisionFilterMask = handle->m_collisionFilterMask; - m_savedActivationState = body->getActivationState(); - body->forceActivationState(DISABLE_SIMULATION); + m_suspended = true; 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); + m_bDyna = false; } } void KX_BulletPhysicsController::RestoreDynamics() { btRigidBody *body = GetRigidBody(); - if (body && body->getActivationState() == DISABLE_SIMULATION) + if (body && m_suspended) { GetPhysicsEnvironment()->updateCcdPhysicsController(this, m_savedMass, m_savedCollisionFlags, m_savedCollisionFilterGroup, m_savedCollisionFilterMask); - body->forceActivationState(m_savedActivationState); + body->activate(); + m_bDyna = m_savedDyna; + m_suspended = false; } } @@ -438,12 +464,12 @@ SG_Controller* KX_BulletPhysicsController::GetReplica(class SG_Node* destnode) void KX_BulletPhysicsController::SetSumoTransform(bool nondynaonly) { - if (GetRigidBody()) - GetRigidBody()->activate(true); - if (!m_bDyna) + if (!m_bDyna && !m_bSensor) { - GetCollisionObject()->setCollisionFlags(GetRigidBody()->getCollisionFlags() | btCollisionObject::CF_KINEMATIC_OBJECT); + btCollisionObject* object = GetRigidBody(); + object->setActivationState(ACTIVE_TAG); + object->setCollisionFlags(object->getCollisionFlags() | btCollisionObject::CF_KINEMATIC_OBJECT); } else { if (!nondynaonly) |