diff options
Diffstat (limited to 'source/gameengine/Ketsji/KX_ConvertPhysicsObjects.cpp')
| -rw-r--r-- | source/gameengine/Ketsji/KX_ConvertPhysicsObjects.cpp | 48 |
1 files changed, 18 insertions, 30 deletions
diff --git a/source/gameengine/Ketsji/KX_ConvertPhysicsObjects.cpp b/source/gameengine/Ketsji/KX_ConvertPhysicsObjects.cpp index d81b6d5a653..406339586cc 100644 --- a/source/gameengine/Ketsji/KX_ConvertPhysicsObjects.cpp +++ b/source/gameengine/Ketsji/KX_ConvertPhysicsObjects.cpp @@ -949,39 +949,27 @@ void KX_ConvertBulletObject( class KX_GameObject* gameobj, assert(colShape->isCompound()); btCompoundShape* compoundShape = (btCompoundShape*)colShape; - // compute the local transform from parent, this may include a parent inverse node + // compute the local transform from parent, this may include several node in the chain SG_Node* gameNode = gameobj->GetSGNode(); - SG_Node* parentInverseNode = gameNode->GetSGParent(); - if (parentInverseNode && parentInverseNode->GetSGClientObject() != NULL) - // this is not a parent inverse node, cancel it - parentInverseNode = NULL; - // now combine the parent inverse node and the game node - MT_Point3 childPos = gameNode->GetLocalPosition(); - MT_Matrix3x3 childRot = gameNode->GetLocalOrientation(); - MT_Vector3 childScale = gameNode->GetLocalScale(); - if (parentInverseNode) - { - const MT_Point3& parentInversePos = parentInverseNode->GetLocalPosition(); - const MT_Matrix3x3& parentInverseRot = parentInverseNode->GetLocalOrientation(); - const MT_Vector3& parentInverseScale = parentInverseNode->GetLocalScale(); - childRot = parentInverseRot * childRot; - childScale = parentInverseScale * childScale; - childPos = parentInversePos+parentInverseScale*(parentInverseRot*childPos); - } - - shapeInfo->m_childScale.setValue(childScale.x(),childScale.y(),childScale.z()); + SG_Node* parentNode = objprop->m_dynamic_parent->GetSGNode(); + // relative transform + MT_Vector3 parentScale = parentNode->GetWorldScaling(); + parentScale[0] = MT_Scalar(1.0)/parentScale[0]; + parentScale[1] = MT_Scalar(1.0)/parentScale[1]; + parentScale[2] = MT_Scalar(1.0)/parentScale[2]; + MT_Vector3 relativeScale = gameNode->GetWorldScaling() * parentScale; + MT_Matrix3x3 parentInvRot = parentNode->GetWorldOrientation().transposed(); + MT_Vector3 relativePos = parentInvRot*((gameNode->GetWorldPosition()-parentNode->GetWorldPosition())*parentScale); + MT_Matrix3x3 relativeRot = parentInvRot*gameNode->GetWorldOrientation(); + + shapeInfo->m_childScale.setValue(relativeScale[0],relativeScale[1],relativeScale[2]); bm->setLocalScaling(shapeInfo->m_childScale); - - shapeInfo->m_childTrans.setOrigin(btVector3(childPos.x(),childPos.y(),childPos.z())); - float rotval[12]; - childRot.getValue(rotval); - btMatrix3x3 newRot; - newRot.setValue(rotval[0],rotval[1],rotval[2],rotval[4],rotval[5],rotval[6],rotval[8],rotval[9],rotval[10]); - newRot = newRot.transpose(); - - shapeInfo->m_childTrans.setBasis(newRot); + shapeInfo->m_childTrans.getOrigin().setValue(relativePos[0],relativePos[1],relativePos[2]); + float rot[12]; + relativeRot.getValue(rot); + shapeInfo->m_childTrans.getBasis().setFromOpenGLSubMatrix(rot); + parentShapeInfo->AddShape(shapeInfo); - compoundShape->addChildShape(shapeInfo->m_childTrans,bm); //do some recalc? //recalc inertia for rigidbody |