diff options
Diffstat (limited to 'source/gameengine/Ketsji/KX_ConvertPhysicsObjects.cpp')
-rw-r--r-- | source/gameengine/Ketsji/KX_ConvertPhysicsObjects.cpp | 92 |
1 files changed, 72 insertions, 20 deletions
diff --git a/source/gameengine/Ketsji/KX_ConvertPhysicsObjects.cpp b/source/gameengine/Ketsji/KX_ConvertPhysicsObjects.cpp index ca75b77dfec..e7a33fafffb 100644 --- a/source/gameengine/Ketsji/KX_ConvertPhysicsObjects.cpp +++ b/source/gameengine/Ketsji/KX_ConvertPhysicsObjects.cpp @@ -884,29 +884,11 @@ void KX_ConvertBulletObject( class KX_GameObject* gameobj, CcdPhysicsEnvironment* env = (CcdPhysicsEnvironment*)kxscene->GetPhysicsEnvironment(); assert(env); - - bool isbulletdyna = false; + bool isbulletdyna = objprop->m_dyna; CcdConstructionInfo ci; - class PHY_IMotionState* motionstate = new KX_MotionState(gameobj->GetSGNode()); - - - - if (!objprop->m_dyna) - { - ci.m_collisionFlags |= btCollisionObject::CF_STATIC_OBJECT; - } - - ci.m_MotionState = motionstate; - ci.m_gravity = btVector3(0,0,0); ci.m_localInertiaTensor =btVector3(0,0,0); ci.m_mass = objprop->m_dyna ? shapeprops->m_mass : 0.f; - isbulletdyna = objprop->m_dyna; - - ci.m_localInertiaTensor = btVector3(ci.m_mass/3.f,ci.m_mass/3.f,ci.m_mass/3.f); - - btTransform trans; - trans.setIdentity(); - + btCollisionShape* bm = 0; switch (objprop->m_boundclass) @@ -1022,6 +1004,59 @@ void KX_ConvertBulletObject( class KX_GameObject* gameobj, bm->setMargin(0.06); + if (objprop->m_isCompoundChild) + { + //find parent, compound shape and add to it + //take relative transform into account! + KX_BulletPhysicsController* parentCtrl = (KX_BulletPhysicsController*)objprop->m_dynamic_parent->GetPhysicsController(); + assert(parentCtrl); + btRigidBody* rigidbody = parentCtrl->GetRigidBody(); + btCollisionShape* colShape = rigidbody->getCollisionShape(); + assert(colShape->isCompound()); + btCompoundShape* compoundShape = (btCompoundShape*)colShape; + btTransform childTrans; + childTrans.setIdentity(); + NodeList& children = objprop->m_dynamic_parent->GetSGNode()->GetSGChildren(); + + MT_Point3 childPos = gameobj->GetSGNode()->GetLocalPosition(); + MT_Matrix3x3 childRot = gameobj->GetSGNode()->GetLocalOrientation(); + MT_Vector3 childScale = gameobj->GetSGNode()->GetLocalScale(); + + bm->setLocalScaling(btVector3(childScale.x(),childScale.y(),childScale.z())); + 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(); + + childTrans.setBasis(newRot); + + + compoundShape->addChildShape(childTrans,bm); + //do some recalc? + //recalc inertia for rigidbody + if (!rigidbody->isStaticOrKinematicObject()) + { + btVector3 localInertia; + float mass = 1.f/rigidbody->getInvMass(); + compoundShape->calculateLocalInertia(mass,localInertia); + rigidbody->setMassProps(mass,localInertia); + } + return; + } + + if (objprop->m_hasCompoundChildren) + { + //replace shape by compoundShape + btCompoundShape* compoundShape = new btCompoundShape(); + btTransform identTrans; + identTrans.setIdentity(); + compoundShape->addChildShape(identTrans,bm); + bm = compoundShape; + } + + #ifdef TEST_SIMD_HULL if (bm->IsPolyhedral()) { @@ -1052,6 +1087,23 @@ void KX_ConvertBulletObject( class KX_GameObject* gameobj, ci.m_collisionShape = bm; + class PHY_IMotionState* motionstate = new KX_MotionState(gameobj->GetSGNode()); + + if (!objprop->m_dyna) + { + ci.m_collisionFlags |= btCollisionObject::CF_STATIC_OBJECT; + } + + + ci.m_MotionState = motionstate; + ci.m_gravity = btVector3(0,0,0); + + ci.m_localInertiaTensor = btVector3(ci.m_mass/3.f,ci.m_mass/3.f,ci.m_mass/3.f); + + btTransform trans; + trans.setIdentity(); + + ci.m_friction = smmaterial->m_friction;//tweak the friction a bit, so the default 0.5 works nice ci.m_restitution = smmaterial->m_restitution; |