diff options
Diffstat (limited to 'source/gameengine/Physics/Bullet')
4 files changed, 73 insertions, 7 deletions
diff --git a/source/gameengine/Physics/Bullet/CcdPhysicsController.cpp b/source/gameengine/Physics/Bullet/CcdPhysicsController.cpp index e444c4c73be..5c70b071661 100644 --- a/source/gameengine/Physics/Bullet/CcdPhysicsController.cpp +++ b/source/gameengine/Physics/Bullet/CcdPhysicsController.cpp @@ -337,12 +337,33 @@ void CcdPhysicsController::setOrientation(float quatImag0,float quatImag1,float { m_body->setCollisionFlags(m_body->getCollisionFlags() | btCollisionObject::CF_KINEMATIC_OBJECT); } - - m_MotionState->setWorldOrientation(quatImag0,quatImag1,quatImag2,quatReal); + // not required + //m_MotionState->setWorldOrientation(quatImag0,quatImag1,quatImag2,quatReal); btTransform xform = m_body->getCenterOfMassTransform(); xform.setRotation(btQuaternion(quatImag0,quatImag1,quatImag2,quatReal)); m_body->setCenterOfMassTransform(xform); - m_bulletMotionState->setWorldTransform(xform); + // not required + //m_bulletMotionState->setWorldTransform(xform); + } + +} + +void CcdPhysicsController::setWorldOrientation(const btMatrix3x3& orn) +{ + if (m_body) + { + m_body->activate(true); + if (m_body->isStaticObject()) + { + m_body->setCollisionFlags(m_body->getCollisionFlags() | btCollisionObject::CF_KINEMATIC_OBJECT); + } + // not required + //m_MotionState->setWorldOrientation(quatImag0,quatImag1,quatImag2,quatReal); + btTransform xform = m_body->getCenterOfMassTransform(); + xform.setBasis(orn); + m_body->setCenterOfMassTransform(xform); + // not required + //m_bulletMotionState->setWorldTransform(xform); } } @@ -356,12 +377,13 @@ void CcdPhysicsController::setPosition(float posX,float posY,float posZ) { m_body->setCollisionFlags(m_body->getCollisionFlags() | btCollisionObject::CF_KINEMATIC_OBJECT); } - - m_MotionState->setWorldPosition(posX,posY,posZ); + // not required, this function is only used to update the physic controller + //m_MotionState->setWorldPosition(posX,posY,posZ); btTransform xform = m_body->getCenterOfMassTransform(); xform.setOrigin(btVector3(posX,posY,posZ)); m_body->setCenterOfMassTransform(xform); - m_bulletMotionState->setWorldTransform(xform); + // not required + //m_bulletMotionState->setWorldTransform(xform); } diff --git a/source/gameengine/Physics/Bullet/CcdPhysicsController.h b/source/gameengine/Physics/Bullet/CcdPhysicsController.h index 37fa465351f..64f1876e199 100644 --- a/source/gameengine/Physics/Bullet/CcdPhysicsController.h +++ b/source/gameengine/Physics/Bullet/CcdPhysicsController.h @@ -106,6 +106,7 @@ class CcdPhysicsController : public PHY_IPhysicsController btRigidBody* m_body; class PHY_IMotionState* m_MotionState; btMotionState* m_bulletMotionState; + friend class CcdPhysicsEnvironment; // needed when updating the controller void* m_newClientInfo; @@ -115,6 +116,9 @@ class CcdPhysicsController : public PHY_IPhysicsController void CreateRigidbody(); + protected: + void setWorldOrientation(const btMatrix3x3& mat); + public: int m_collisionDelay; @@ -194,7 +198,6 @@ class CcdPhysicsController : public PHY_IPhysicsController return m_cci.m_collisionFilterMask; } - virtual void calcXform() {} ; virtual void SetMargin(float margin) {}; virtual float GetMargin() const {return 0.f;}; diff --git a/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.cpp b/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.cpp index c9d346e316d..b773f40650b 100644 --- a/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.cpp +++ b/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.cpp @@ -466,6 +466,38 @@ void CcdPhysicsEnvironment::removeCcdPhysicsController(CcdPhysicsController* ctr } +void CcdPhysicsEnvironment::updateCcdPhysicsController(CcdPhysicsController* ctrl, btScalar newMass, int newCollisionFlags, short int newCollisionGroup, short int newCollisionMask) +{ + // this function is used when the collisionning group of a controller is changed + // remove and add the collistioning object + btRigidBody* body = ctrl->GetRigidBody(); + btVector3 inertia; + + m_dynamicsWorld->removeCollisionObject(body); + body->setCollisionFlags(newCollisionFlags); + body->getCollisionShape()->calculateLocalInertia(newMass, inertia); + body->setMassProps(newMass, inertia); + m_dynamicsWorld->addCollisionObject(body, newCollisionGroup, newCollisionMask); + // to avoid nasty interaction, we must update the property of the controller as well + ctrl->m_cci.m_mass = newMass; + ctrl->m_cci.m_collisionFilterGroup = newCollisionGroup; + ctrl->m_cci.m_collisionFilterMask = newCollisionMask; + ctrl->m_cci.m_collisionFlags = newCollisionFlags; +} + +void CcdPhysicsEnvironment::enableCcdPhysicsController(CcdPhysicsController* ctrl) +{ + std::vector<CcdPhysicsController*>::iterator i = + std::find(m_controllers.begin(), m_controllers.end(), ctrl); + if (i == m_controllers.end()) + { + btRigidBody* body = ctrl->GetRigidBody(); + m_dynamicsWorld->addCollisionObject(body, + ctrl->GetCollisionFilterGroup(), ctrl->GetCollisionFilterMask()); + } +} + + void CcdPhysicsEnvironment::beginFrame() { diff --git a/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.h b/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.h index 9f14cf6cbef..453749b27b3 100644 --- a/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.h +++ b/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.h @@ -183,6 +183,15 @@ protected: void removeCcdPhysicsController(CcdPhysicsController* ctrl); + void updateCcdPhysicsController(CcdPhysicsController* ctrl, btScalar newMass, int newCollisionFlags, short int newCollisionGroup, short int newCollisionMask); + + void disableCcdPhysicsController(CcdPhysicsController* ctrl) + { + removeCcdPhysicsController(ctrl); + } + + void enableCcdPhysicsController(CcdPhysicsController* ctrl); + btBroadphaseInterface* getBroadphase(); |