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path: root/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.cpp
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Diffstat (limited to 'source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.cpp')
-rw-r--r--source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.cpp155
1 files changed, 87 insertions, 68 deletions
diff --git a/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.cpp b/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.cpp
index 38e7df6c573..f450e3ac12f 100644
--- a/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.cpp
+++ b/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.cpp
@@ -174,26 +174,27 @@ public:
virtual void GetWheelPosition(int wheelIndex,float& posX,float& posY,float& posZ) const
{
- btTransform trans = m_vehicle->getWheelTransformWS(wheelIndex);
- posX = trans.getOrigin().x();
- posY = trans.getOrigin().y();
- posZ = trans.getOrigin().z();
+ if ((wheelIndex>=0) && (wheelIndex< m_vehicle->getNumWheels()))
+ {
+ btVector3 origin = m_vehicle->getWheelTransformWS(wheelIndex).getOrigin();
+
+ posX = origin.x();
+ posY = origin.y();
+ posZ = origin.z();
+ }
}
+
virtual void GetWheelOrientationQuaternion(int wheelIndex,float& quatX,float& quatY,float& quatZ,float& quatW) const
{
- btTransform trans = m_vehicle->getWheelTransformWS(wheelIndex);
- btQuaternion quat = trans.getRotation();
- btMatrix3x3 orn2(quat);
-
- quatX = trans.getRotation().x();
- quatY = trans.getRotation().y();
- quatZ = trans.getRotation().z();
- quatW = trans.getRotation()[3];
-
-
- //printf("test");
-
+ if ((wheelIndex>=0) && (wheelIndex< m_vehicle->getNumWheels()))
+ {
+ btQuaternion quat = m_vehicle->getWheelTransformWS(wheelIndex).getRotation();
+ quatX = quat.x();
+ quatY = quat.y();
+ quatZ = quat.z();
+ quatW = quat.w();
+ }
}
virtual float GetWheelRotation(int wheelIndex) const
@@ -205,8 +206,8 @@ public:
btWheelInfo& info = m_vehicle->getWheelInfo(wheelIndex);
rotation = info.m_rotation;
}
- return rotation;
+ return rotation;
}
@@ -223,12 +224,16 @@ public:
virtual void SetSteeringValue(float steering,int wheelIndex)
{
- m_vehicle->setSteeringValue(steering,wheelIndex);
+ if ((wheelIndex>=0) && (wheelIndex< m_vehicle->getNumWheels())) {
+ m_vehicle->setSteeringValue(steering,wheelIndex);
+ }
}
virtual void ApplyEngineForce(float force,int wheelIndex)
{
- m_vehicle->applyEngineForce(force,wheelIndex);
+ if ((wheelIndex>=0) && (wheelIndex< m_vehicle->getNumWheels())) {
+ m_vehicle->applyEngineForce(force,wheelIndex);
+ }
}
virtual void ApplyBraking(float braking,int wheelIndex)
@@ -2251,64 +2256,77 @@ bool CcdPhysicsEnvironment::RequestCollisionCallback(PHY_IPhysicsController* ctr
void CcdPhysicsEnvironment::CallbackTriggers()
{
- if (m_triggerCallbacks[PHY_OBJECT_RESPONSE] || (m_debugDrawer && (m_debugDrawer->getDebugMode() & btIDebugDraw::DBG_DrawContactPoints)))
- {
- //walk over all overlapping pairs, and if one of the involved bodies is registered for trigger callback, perform callback
- btDispatcher* dispatcher = m_dynamicsWorld->getDispatcher();
- int numManifolds = dispatcher->getNumManifolds();
- for (int i=0;i<numManifolds;i++)
- {
- btPersistentManifold* manifold = dispatcher->getManifoldByIndexInternal(i);
- int numContacts = manifold->getNumContacts();
- if (numContacts)
- {
- const btRigidBody* rb0 = static_cast<const btRigidBody*>(manifold->getBody0());
- const btRigidBody* rb1 = static_cast<const btRigidBody*>(manifold->getBody1());
- if (m_debugDrawer && (m_debugDrawer->getDebugMode() & btIDebugDraw::DBG_DrawContactPoints))
- {
- for (int j=0;j<numContacts;j++)
- {
- btVector3 color(1,0,0);
- const btManifoldPoint& cp = manifold->getContactPoint(j);
- if (m_debugDrawer)
- m_debugDrawer->drawContactPoint(cp.m_positionWorldOnB,cp.m_normalWorldOnB,cp.getDistance(),cp.getLifeTime(),color);
- }
- }
- const btRigidBody* obj0 = rb0;
- const btRigidBody* obj1 = rb1;
+ bool draw_contact_points = m_debugDrawer && (m_debugDrawer->getDebugMode() & btIDebugDraw::DBG_DrawContactPoints);
- //m_internalOwner is set in 'addPhysicsController'
- CcdPhysicsController* ctrl0 = static_cast<CcdPhysicsController*>(obj0->getUserPointer());
- CcdPhysicsController* ctrl1 = static_cast<CcdPhysicsController*>(obj1->getUserPointer());
+ if (!m_triggerCallbacks[PHY_OBJECT_RESPONSE] && !draw_contact_points)
+ return;
- std::set<CcdPhysicsController*>::const_iterator i = m_triggerControllers.find(ctrl0);
- if (i == m_triggerControllers.end())
- {
- i = m_triggerControllers.find(ctrl1);
- }
+ //walk over all overlapping pairs, and if one of the involved bodies is registered for trigger callback, perform callback
+ btDispatcher* dispatcher = m_dynamicsWorld->getDispatcher();
+ int numManifolds = dispatcher->getNumManifolds();
+ for (int i=0;i<numManifolds;i++)
+ {
+ bool colliding_ctrl0 = true;
+ btPersistentManifold* manifold = dispatcher->getManifoldByIndexInternal(i);
+ int numContacts = manifold->getNumContacts();
+ if (!numContacts) continue;
- if (!(i == m_triggerControllers.end()))
- {
- m_triggerCallbacks[PHY_OBJECT_RESPONSE](m_triggerCallbacksUserPtrs[PHY_OBJECT_RESPONSE],
- ctrl0,ctrl1,0);
- }
- // Bullet does not refresh the manifold contact point for object without contact response
- // may need to remove this when a newer Bullet version is integrated
- if (!dispatcher->needsResponse(rb0, rb1))
- {
- // Refresh algorithm fails sometimes when there is penetration
- // (usuall the case with ghost and sensor objects)
- // Let's just clear the manifold, in any case, it is recomputed on each frame.
- manifold->clearManifold(); //refreshContactPoints(rb0->getCenterOfMassTransform(),rb1->getCenterOfMassTransform());
- }
+ const btRigidBody* rb0 = static_cast<const btRigidBody*>(manifold->getBody0());
+ const btRigidBody* rb1 = static_cast<const btRigidBody*>(manifold->getBody1());
+ if (draw_contact_points)
+ {
+ for (int j=0;j<numContacts;j++)
+ {
+ btVector3 color(1,1,0);
+ const btManifoldPoint& cp = manifold->getContactPoint(j);
+ m_debugDrawer->drawContactPoint(cp.m_positionWorldOnB,
+ cp.m_normalWorldOnB,
+ cp.getDistance(),
+ cp.getLifeTime(),
+ color);
}
}
+ //m_internalOwner is set in 'addPhysicsController'
+ CcdPhysicsController* ctrl0 = static_cast<CcdPhysicsController*>(rb0->getUserPointer());
+ CcdPhysicsController* ctrl1 = static_cast<CcdPhysicsController*>(rb1->getUserPointer());
+ std::set<CcdPhysicsController*>::const_iterator iter = m_triggerControllers.find(ctrl0);
+ if (iter == m_triggerControllers.end())
+ {
+ iter = m_triggerControllers.find(ctrl1);
+ colliding_ctrl0 = false;
+ }
- }
+ if (iter != m_triggerControllers.end())
+ {
+ static PHY_CollData coll_data;
+ const btManifoldPoint &cp = manifold->getContactPoint(0);
+ /* Make sure that "point1" is always on the object we report on, and
+ * "point2" on the other object. Also ensure the normal is oriented
+ * correctly. */
+ btVector3 point1 = colliding_ctrl0 ? cp.m_positionWorldOnA : cp.m_positionWorldOnB;
+ btVector3 point2 = colliding_ctrl0 ? cp.m_positionWorldOnB : cp.m_positionWorldOnA;
+ btVector3 normal = colliding_ctrl0 ? -cp.m_normalWorldOnB : cp.m_normalWorldOnB;
+ coll_data.m_point1 = MT_Vector3(point1.m_floats);
+ coll_data.m_point2 = MT_Vector3(point2.m_floats);
+ coll_data.m_normal = MT_Vector3(normal.m_floats);
+
+ m_triggerCallbacks[PHY_OBJECT_RESPONSE](m_triggerCallbacksUserPtrs[PHY_OBJECT_RESPONSE],
+ ctrl0, ctrl1, &coll_data);
+ }
+ // Bullet does not refresh the manifold contact point for object without contact response
+ // may need to remove this when a newer Bullet version is integrated
+ if (!dispatcher->needsResponse(rb0, rb1))
+ {
+ // Refresh algorithm fails sometimes when there is penetration
+ // (usuall the case with ghost and sensor objects)
+ // Let's just clear the manifold, in any case, it is recomputed on each frame.
+ manifold->clearManifold(); //refreshContactPoints(rb0->getCenterOfMassTransform(),rb1->getCenterOfMassTransform());
+ }
+ }
}
// This call back is called before a pair is added in the cache
@@ -2999,7 +3017,8 @@ struct BlenderDebugDraw : public btIDebugDraw
virtual void drawContactPoint(const btVector3& PointOnB,const btVector3& normalOnB,float distance,int lifeTime,const btVector3& color)
{
- //not yet
+ drawLine(PointOnB, PointOnB + normalOnB, color);
+ drawSphere(PointOnB, 0.1, color);
}
virtual void setDebugMode(int debugMode)
generated by cgit v1.2.3 (git 2.25.1) at 2024-07-20 20:03:09 +0300