From 67b3e1a07b61f4bfccdd120e04942367ae3c8088 Mon Sep 17 00:00:00 2001
From: Benoit Bolsee <benoit.bolsee@online.be>
Date: Thu, 23 Apr 2009 20:30:01 +0000
Subject: BGE bug #17863: Shaky game camera.

---
 .../Physics/Bullet/CcdPhysicsController.cpp          | 20 ++++++++++++++++----
 1 file changed, 16 insertions(+), 4 deletions(-)

(limited to 'source/gameengine/Physics')

diff --git a/source/gameengine/Physics/Bullet/CcdPhysicsController.cpp b/source/gameengine/Physics/Bullet/CcdPhysicsController.cpp
index 0b9da8f46d3..b944ae085ba 100644
--- a/source/gameengine/Physics/Bullet/CcdPhysicsController.cpp
+++ b/source/gameengine/Physics/Bullet/CcdPhysicsController.cpp
@@ -572,10 +572,22 @@ bool		CcdPhysicsController::SynchronizeMotionStates(float time)
 	btSoftBody* sb = GetSoftBody();
 	if (sb)
 	{
-		btVector3 aabbMin,aabbMax;
-		sb->getAabb(aabbMin,aabbMax);
-		btVector3 worldPos  = (aabbMax+aabbMin)*0.5f;
-		m_MotionState->setWorldPosition(worldPos[0],worldPos[1],worldPos[2]);
+		if (sb->m_pose.m_bframe) 
+		{
+			btVector3 worldPos = sb->m_pose.m_com;
+			btQuaternion worldquat;
+			btMatrix3x3	trs = sb->m_pose.m_rot*sb->m_pose.m_scl;
+			trs.getRotation(worldquat);
+			m_MotionState->setWorldPosition(worldPos[0],worldPos[1],worldPos[2]);
+			m_MotionState->setWorldOrientation(worldquat[0],worldquat[1],worldquat[2],worldquat[3]);
+		}
+		else 
+		{
+			btVector3 aabbMin,aabbMax;
+			sb->getAabb(aabbMin,aabbMax);
+			btVector3 worldPos  = (aabbMax+aabbMin)*0.5f;
+			m_MotionState->setWorldPosition(worldPos[0],worldPos[1],worldPos[2]);
+		}
 		m_MotionState->calculateWorldTransformations();
 		return true;
 	}
-- 
cgit v1.2.3


From b991b32458cdccb19a203e7ba4ca6b5780aad6cb Mon Sep 17 00:00:00 2001
From: Benoit Bolsee <benoit.bolsee@online.be>
Date: Sat, 25 Apr 2009 12:20:59 +0000
Subject: BGE mesh modifiers: fix view frustrum culling for mesh with
 modifiers. Update the bounding box based on mesh extent after applying the
 modifiers.

---
 .../gameengine/Physics/Bullet/CcdGraphicController.cpp  | 17 +++++++++++++++--
 source/gameengine/Physics/Bullet/CcdGraphicController.h |  2 ++
 .../gameengine/Physics/common/PHY_IGraphicController.h  |  2 ++
 3 files changed, 19 insertions(+), 2 deletions(-)

(limited to 'source/gameengine/Physics')

diff --git a/source/gameengine/Physics/Bullet/CcdGraphicController.cpp b/source/gameengine/Physics/Bullet/CcdGraphicController.cpp
index caf18fd28ba..2d1f841af0c 100644
--- a/source/gameengine/Physics/Bullet/CcdGraphicController.cpp
+++ b/source/gameengine/Physics/Bullet/CcdGraphicController.cpp
@@ -47,11 +47,24 @@ void CcdGraphicController::setLocalAabb(const btVector3& aabbMin,const btVector3
 
 void CcdGraphicController::setLocalAabb(const MT_Point3& aabbMin,const MT_Point3& aabbMax)
 {
-	m_localAabbMin = btVector3(aabbMin[0],aabbMin[1],aabbMin[2]);
-	m_localAabbMax = btVector3(aabbMax[0],aabbMax[1],aabbMax[2]);
+	m_localAabbMin.setValue(aabbMin[0],aabbMin[1],aabbMin[2]);
+	m_localAabbMax.setValue(aabbMax[0],aabbMax[1],aabbMax[2]);
 	SetGraphicTransform();
 }
 
+void CcdGraphicController::setLocalAabb(const PHY__Vector3& aabbMin,const PHY__Vector3& aabbMax)
+{
+	m_localAabbMin.setValue(aabbMin[0],aabbMin[1],aabbMin[2]);
+	m_localAabbMax.setValue(aabbMax[0],aabbMax[1],aabbMax[2]);
+	SetGraphicTransform();
+}
+
+void CcdGraphicController::setLocalAabb(const float* aabbMin,const float* aabbMax)
+{
+	m_localAabbMin.setValue(aabbMin[0],aabbMin[1],aabbMin[2]);
+	m_localAabbMax.setValue(aabbMax[0],aabbMax[1],aabbMax[2]);
+	SetGraphicTransform();
+}
 
 void CcdGraphicController::getAabb(btVector3& aabbMin, btVector3& aabbMax)
 {
diff --git a/source/gameengine/Physics/Bullet/CcdGraphicController.h b/source/gameengine/Physics/Bullet/CcdGraphicController.h
index 8faa0944313..8f44a623371 100644
--- a/source/gameengine/Physics/Bullet/CcdGraphicController.h
+++ b/source/gameengine/Physics/Bullet/CcdGraphicController.h
@@ -38,6 +38,8 @@ public:
 
 	void setLocalAabb(const btVector3& aabbMin,const btVector3& aabbMax);
 	void setLocalAabb(const MT_Point3& aabbMin,const MT_Point3& aabbMax);
+	virtual void setLocalAabb(const PHY__Vector3& aabbMin,const PHY__Vector3& aabbMax);
+	virtual void setLocalAabb(const float aabbMin[3],const float aabbMax[3]);
 
 	PHY_IMotionState* GetMotionState() { return m_motionState; }
 	void getAabb(btVector3& aabbMin, btVector3& aabbMax);
diff --git a/source/gameengine/Physics/common/PHY_IGraphicController.h b/source/gameengine/Physics/common/PHY_IGraphicController.h
index 36b8a978e87..8acc5c2f9d3 100644
--- a/source/gameengine/Physics/common/PHY_IGraphicController.h
+++ b/source/gameengine/Physics/common/PHY_IGraphicController.h
@@ -47,6 +47,8 @@ class PHY_IGraphicController : public PHY_IController
 			SynchronizeMotionStates ynchronizes dynas, kinematic and deformable entities (and do 'late binding')
 		*/
 		virtual bool SetGraphicTransform()=0;
+		virtual void setLocalAabb(const PHY__Vector3& aabbMin,const PHY__Vector3& aabbMax)=0;
+		virtual void setLocalAabb(const float* aabbMin,const float* aabbMax)=0;
 
 		virtual PHY_IGraphicController*	GetReplica(class PHY_IMotionState* motionstate) {return 0;}
 
-- 
cgit v1.2.3


From d4f8b416e92ec5b71bddfa688e9a63ea86510721 Mon Sep 17 00:00:00 2001
From: Benoit Bolsee <benoit.bolsee@online.be>
Date: Mon, 27 Apr 2009 22:21:42 +0000
Subject: BGE soft body: change welding option to disable welding check by
 default: speeds up shape conversion. This is fine if the object has no
 duplicate vertices. Otherwise, bullet will be extremely slow and you can
 either set some welding or remove duplicates in the mesh. Welding is now
 displayed in linear scale: 0.0 -> 0.01, no need to use logarithmic scale ;-).
 Fix a bug with Bullet by which vertex array for soft body must have 3xfloat
 stride.

---
 .../Physics/Bullet/CcdPhysicsController.cpp        | 60 ++++++++++++----------
 .../Physics/Bullet/CcdPhysicsController.h          | 10 ++--
 2 files changed, 36 insertions(+), 34 deletions(-)

(limited to 'source/gameengine/Physics')

diff --git a/source/gameengine/Physics/Bullet/CcdPhysicsController.cpp b/source/gameengine/Physics/Bullet/CcdPhysicsController.cpp
index b944ae085ba..b171fbb3c34 100644
--- a/source/gameengine/Physics/Bullet/CcdPhysicsController.cpp
+++ b/source/gameengine/Physics/Bullet/CcdPhysicsController.cpp
@@ -1368,9 +1368,9 @@ bool CcdShapeConstructionInfo::SetMesh(RAS_MeshObject* meshobj, bool polytope,bo
 			}
 		}
 
-		m_vertexArray.resize(tot_bt_verts);
+		m_vertexArray.resize(tot_bt_verts*3);
 
-		btVector3 *bt= &m_vertexArray[0];
+		btScalar *bt= &m_vertexArray[0];
 
 		for (int p2=0; p2<numpolys; p2++)
 		{
@@ -1388,8 +1388,9 @@ bool CcdShapeConstructionInfo::SetMesh(RAS_MeshObject* meshobj, bool polytope,bo
 						const float* vtx = v->getXYZ();
 						vert_tag_array[orig_index]= false;
 
-						bt->setX(vtx[0]);  bt->setY(vtx[1]);  bt->setZ(vtx[2]);
-						bt++;
+						*bt++ = vtx[0];
+						*bt++ = vtx[1];
+						*bt++ = vtx[2];
 					}
 				}
 			}
@@ -1421,11 +1422,11 @@ bool CcdShapeConstructionInfo::SetMesh(RAS_MeshObject* meshobj, bool polytope,bo
 			}
 		}
 
-		m_vertexArray.resize(tot_bt_verts);
+		m_vertexArray.resize(tot_bt_verts*3);
 		m_polygonIndexArray.resize(tot_bt_tris);
 		m_triFaceArray.resize(tot_bt_tris*3);
 
-		btVector3 *bt= &m_vertexArray[0];
+		btScalar *bt= &m_vertexArray[0];
 		int *poly_index_pt= &m_polygonIndexArray[0];
 		int *tri_pt= &m_triFaceArray[0];
 
@@ -1459,20 +1460,23 @@ bool CcdShapeConstructionInfo::SetMesh(RAS_MeshObject* meshobj, bool polytope,bo
 				if (vert_tag_array[i1]==true) { /* *** v1 *** */
 					vert_tag_array[i1]= false;
 					vtx = v1->getXYZ();
-					bt->setX(vtx[0]);	bt->setY( vtx[1]);	bt->setZ(vtx[2]);
-					bt++;
+					*bt++ = vtx[0];
+					*bt++ = vtx[1];
+					*bt++ = vtx[2];
 				}
 				if (vert_tag_array[i2]==true) { /* *** v2 *** */
 					vert_tag_array[i2]= false;
 					vtx = v2->getXYZ();
-					bt->setX(vtx[0]);	bt->setY(vtx[1]);	bt->setZ(vtx[2]);
-					bt++;
+					*bt++ = vtx[0];
+					*bt++ = vtx[1];
+					*bt++ = vtx[2];
 				}
 				if (vert_tag_array[i3]==true) { /* *** v3 *** */
 					vert_tag_array[i3]= false;
 					vtx = v3->getXYZ();
-					bt->setX(vtx[0]);	bt->setY(vtx[1]);	bt->setZ(vtx[2]);
-					bt++;
+					*bt++ = vtx[0];	
+					*bt++ = vtx[1];
+					*bt++ = vtx[2];
 				}
 
 				if (poly->VertexCount()==4)
@@ -1493,8 +1497,9 @@ bool CcdShapeConstructionInfo::SetMesh(RAS_MeshObject* meshobj, bool polytope,bo
 					if (vert_tag_array[i4]==true) { /* *** v4 *** */
 						vert_tag_array[i4]= false;
 						vtx = v4->getXYZ();
-						bt->setX(vtx[0]);	bt->setY(vtx[1]);	bt->setZ(vtx[2]);
-						bt++;
+						*bt++ = vtx[0];
+						*bt++ = vtx[1];	
+						*bt++ = vtx[2];
 					}
 				}
 			}
@@ -1577,7 +1582,7 @@ btCollisionShape* CcdShapeConstructionInfo::CreateBulletShape()
 		break;
 
 	case PHY_SHAPE_POLYTOPE:
-		collisionShape = new btConvexHullShape(&m_vertexArray[0].getX(), m_vertexArray.size());
+		collisionShape = new btConvexHullShape(&m_vertexArray[0], m_vertexArray.size()/3, 3*sizeof(btScalar));
 		break;
 
 	case PHY_SHAPE_MESH:
@@ -1594,9 +1599,9 @@ btCollisionShape* CcdShapeConstructionInfo::CreateBulletShape()
 						m_polygonIndexArray.size(),
 						&m_triFaceArray[0],
 						3*sizeof(int),
-						m_vertexArray.size(),
-						(btScalar*) &m_vertexArray[0].x(),
-						sizeof(btVector3)
+						m_vertexArray.size()/3,
+						&m_vertexArray[0],
+						3*sizeof(btScalar)
 				);
 				
 				btGImpactMeshShape* gimpactShape =  new btGImpactMeshShape(indexVertexArrays);
@@ -1619,12 +1624,13 @@ btCollisionShape* CcdShapeConstructionInfo::CreateBulletShape()
 					bool removeDuplicateVertices=true;
 					// m_vertexArray not in multiple of 3 anymore, use m_triFaceArray
 					for(int i=0; i<m_triFaceArray.size(); i+=3) {
-						collisionMeshData->addTriangle(
-								m_vertexArray[m_triFaceArray[i]],
-								m_vertexArray[m_triFaceArray[i+1]],
-								m_vertexArray[m_triFaceArray[i+2]],
-								removeDuplicateVertices
-						);
+						btScalar *bt = &m_vertexArray[3*m_triFaceArray[i]];
+						btVector3 v1(bt[0], bt[1], bt[2]);
+						bt = &m_vertexArray[3*m_triFaceArray[i+1]];
+						btVector3 v2(bt[0], bt[1], bt[2]);
+						bt = &m_vertexArray[3*m_triFaceArray[i+2]];
+						btVector3 v3(bt[0], bt[1], bt[2]);
+						collisionMeshData->addTriangle(v1, v2, v3, removeDuplicateVertices);
 					}
 					indexVertexArrays = collisionMeshData;
 
@@ -1634,9 +1640,9 @@ btCollisionShape* CcdShapeConstructionInfo::CreateBulletShape()
 							m_polygonIndexArray.size(),
 							&m_triFaceArray[0],
 							3*sizeof(int),
-							m_vertexArray.size(),
-							(btScalar*) &m_vertexArray[0].x(),
-							sizeof(btVector3));
+							m_vertexArray.size()/3,
+							&m_vertexArray[0],
+							3*sizeof(btScalar));
 				}
 				
 				// this shape will be shared and not deleted until shapeInfo is deleted
diff --git a/source/gameengine/Physics/Bullet/CcdPhysicsController.h b/source/gameengine/Physics/Bullet/CcdPhysicsController.h
index 4510bbddf65..4ab478b2106 100644
--- a/source/gameengine/Physics/Bullet/CcdPhysicsController.h
+++ b/source/gameengine/Physics/Bullet/CcdPhysicsController.h
@@ -161,8 +161,8 @@ public:
 	btTransform				m_childTrans;
 	btVector3				m_childScale;
 	void*					m_userData;	
-	btAlignedObjectArray<btVector3>	m_vertexArray;	// Contains both vertex array for polytope shape and
-											// triangle array for concave mesh shape.
+	btAlignedObjectArray<btScalar>	m_vertexArray;	// Contains both vertex array for polytope shape and
+											// triangle array for concave mesh shape. Each vertex is 3 consecutive values
 											// In this case a triangle is made of 3 consecutive points
 	std::vector<int>		m_polygonIndexArray;	// Contains the array of polygon index in the 
 													// original mesh that correspond to shape triangles.
@@ -173,11 +173,7 @@ public:
 
 	void	setVertexWeldingThreshold1(float threshold)
 	{
-		m_weldingThreshold1  = threshold;
-	}
-	float	getVertexWeldingThreshold1() const
-	{
-		return m_weldingThreshold1;
+		m_weldingThreshold1  = threshold*threshold;
 	}
 protected:
 	static std::map<RAS_MeshObject*, CcdShapeConstructionInfo*> m_meshShapeMap;
-- 
cgit v1.2.3


From 2d78dcfb610381a5056eed5f59dd57aa50e444c3 Mon Sep 17 00:00:00 2001
From: Erwin Coumans <blender@erwincoumans.com>
Date: Tue, 28 Apr 2009 23:26:35 +0000
Subject: fix so that torque can be applied to DYNAMIC game objects, this fixes
 the skategirl. Note that skategirl needs a bit higher angular damping,
 perhaps the conversion formula needs to be tweaked better?

---
 source/gameengine/Physics/Bullet/CcdPhysicsController.cpp | 7 +++++++
 1 file changed, 7 insertions(+)

(limited to 'source/gameengine/Physics')

diff --git a/source/gameengine/Physics/Bullet/CcdPhysicsController.cpp b/source/gameengine/Physics/Bullet/CcdPhysicsController.cpp
index b171fbb3c34..961e9096442 100644
--- a/source/gameengine/Physics/Bullet/CcdPhysicsController.cpp
+++ b/source/gameengine/Physics/Bullet/CcdPhysicsController.cpp
@@ -964,7 +964,14 @@ void		CcdPhysicsController::ApplyTorque(float torqueX,float torqueY,float torque
 			torque	= xform.getBasis()*torque;
 		}
 		if (body)
+		{
+			//workaround for incompatibility between 'DYNAMIC' game object, and angular factor
+			//a DYNAMIC object has some inconsistency: it has no angular effect due to collisions, but still has torque
+			const btVector3& angFac = body->getAngularFactor();
+			body->setAngularFactor(1.f);
 			body->applyTorque(torque);
+			body->setAngularFactor(angFac);
+		}
 	}
 }
 
-- 
cgit v1.2.3


From 36d0e2649ee8bc95d68e5d8e5317aee4e82e44bf Mon Sep 17 00:00:00 2001
From: Benoit Bolsee <benoit.bolsee@online.be>
Date: Thu, 30 Apr 2009 20:02:22 +0000
Subject: BGE bug fix: when a dynamic object is parented to a compound shape
 and then unparented, it jumps at the position it had before the parenting.

---
 source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.cpp | 6 ++++++
 1 file changed, 6 insertions(+)

(limited to 'source/gameengine/Physics')

diff --git a/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.cpp b/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.cpp
index 3e1e0294321..a0bf0448e3e 100644
--- a/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.cpp
+++ b/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.cpp
@@ -533,6 +533,12 @@ void CcdPhysicsEnvironment::enableCcdPhysicsController(CcdPhysicsController* ctr
 	{
 		btCollisionObject* obj = ctrl->GetCollisionObject();
 		obj->setUserPointer(ctrl);
+		// update the position of the object from the user
+		if (ctrl->GetMotionState()) 
+		{
+			btTransform xform = CcdPhysicsController::GetTransformFromMotionState(ctrl->GetMotionState());
+			ctrl->SetCenterOfMassTransform(xform);
+		}
 		m_dynamicsWorld->addCollisionObject(obj, 
 			ctrl->GetCollisionFilterGroup(), ctrl->GetCollisionFilterMask());
 	}
-- 
cgit v1.2.3


From 672492f563e148dc608965c5d0011413fbfae0eb Mon Sep 17 00:00:00 2001
From: Benoit Bolsee <benoit.bolsee@online.be>
Date: Fri, 1 May 2009 16:35:06 +0000
Subject: BGE: New function GameLogic.setMaxLogicFrame() to allow better
 control over the time spent on logic.

This function sets the maximum number of logic frame executed per render frame.
Valid values: 1..5

This function is useful to control the amount of processing consumed by logic.
By default, up to 5 logic frames can be executed per render frame. This is fine
as long as the time spent on logic is negligible compared to the render time.
If it's not the case, the default value will drag the performance of the game
down by executing unnecessary logic frames that take up most of the CPU time.

You can avoid that by lowering the value with this function.
The drawback is less precision in the logic system to physics and I/O activity.

Note that it does not affect the physics system: physics will still run
at full frame rate (actually up to 5 times the ticrate).
You can further control the render frame rate with GameLogic.setLogicTicRate().
---
 .../Physics/BlOde/OdePhysicsEnvironment.cpp        |   2 +-
 .../Physics/BlOde/OdePhysicsEnvironment.h          |   2 +-
 .../Physics/Bullet/CcdPhysicsEnvironment.cpp       | 129 ++++++++++-----------
 .../Physics/Bullet/CcdPhysicsEnvironment.h         |   2 +-
 .../Physics/Dummy/DummyPhysicsEnvironment.cpp      |   2 +-
 .../Physics/Dummy/DummyPhysicsEnvironment.h        |   2 +-
 .../Physics/Sumo/SumoPhysicsEnvironment.cpp        |   2 +-
 .../Physics/Sumo/SumoPhysicsEnvironment.h          |   2 +-
 .../Physics/common/PHY_IPhysicsEnvironment.h       |   2 +-
 9 files changed, 68 insertions(+), 77 deletions(-)

(limited to 'source/gameengine/Physics')

diff --git a/source/gameengine/Physics/BlOde/OdePhysicsEnvironment.cpp b/source/gameengine/Physics/BlOde/OdePhysicsEnvironment.cpp
index 2e8ee31058f..54e97858b7f 100644
--- a/source/gameengine/Physics/BlOde/OdePhysicsEnvironment.cpp
+++ b/source/gameengine/Physics/BlOde/OdePhysicsEnvironment.cpp
@@ -75,7 +75,7 @@ float		ODEPhysicsEnvironment::getFixedTimeStep()
 
 
 
-bool		ODEPhysicsEnvironment::proceedDeltaTime(double  curTime,float timeStep1)
+bool		ODEPhysicsEnvironment::proceedDeltaTime(double  curTime,float timeStep1,float interval)
 {
 
 	float deltaTime = timeStep1;
diff --git a/source/gameengine/Physics/BlOde/OdePhysicsEnvironment.h b/source/gameengine/Physics/BlOde/OdePhysicsEnvironment.h
index 2e4709cf420..82e26e01460 100644
--- a/source/gameengine/Physics/BlOde/OdePhysicsEnvironment.h
+++ b/source/gameengine/Physics/BlOde/OdePhysicsEnvironment.h
@@ -44,7 +44,7 @@ public:
 
 
 // Perform an integration step of duration 'timeStep'.
-	virtual	bool		proceedDeltaTime(double  curTime,float timeStep);
+	virtual	bool		proceedDeltaTime(double  curTime,float timeStep,float interval);
 	virtual	void		setFixedTimeStep(bool useFixedTimeStep,float fixedTimeStep);
 	virtual	float		getFixedTimeStep();
 
diff --git a/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.cpp b/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.cpp
index a0bf0448e3e..bcf83e25d84 100644
--- a/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.cpp
+++ b/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.cpp
@@ -623,7 +623,7 @@ void CcdPhysicsEnvironment::debugDrawWorld()
 			m_dynamicsWorld->debugDrawWorld();
 }
 
-bool	CcdPhysicsEnvironment::proceedDeltaTime(double curTime,float timeStep)
+bool	CcdPhysicsEnvironment::proceedDeltaTime(double curTime,float timeStep,float interval)
 {
 	std::set<CcdPhysicsController*>::iterator it;
 	int i;
@@ -633,14 +633,9 @@ bool	CcdPhysicsEnvironment::proceedDeltaTime(double curTime,float timeStep)
 		(*it)->SynchronizeMotionStates(timeStep);
 	}
 
-	processFhSprings(curTime,timeStep);
-
 	float subStep = timeStep / float(m_numTimeSubSteps);
-	for (i=0;i<m_numTimeSubSteps;i++)
-	{
-//			m_dynamicsWorld->stepSimulation(subStep,20,1./240.);//perform always a full simulation step
-			m_dynamicsWorld->stepSimulation(subStep,0);//perform always a full simulation step
-	}
+	i = m_dynamicsWorld->stepSimulation(interval,25,subStep);//perform always a full simulation step
+	processFhSprings(curTime,i*subStep);
 
 	for (it=m_controllers.begin(); it!=m_controllers.end(); it++)
 	{
@@ -692,9 +687,11 @@ public:
 
 };
 
-void	CcdPhysicsEnvironment::processFhSprings(double curTime,float timeStep)
+void	CcdPhysicsEnvironment::processFhSprings(double curTime,float interval)
 {
 	std::set<CcdPhysicsController*>::iterator it;
+	// dynamic of Fh spring is based on a timestep of 1/60
+	int numIter = (int)(interval*60.0001f);
 	
 	for (it=m_controllers.begin(); it!=m_controllers.end(); it++)
 	{
@@ -706,8 +703,6 @@ void	CcdPhysicsEnvironment::processFhSprings(double curTime,float timeStep)
 			//printf("has Fh or RotFh\n");
 			//re-implement SM_FhObject.cpp using btCollisionWorld::rayTest and info from ctrl->getConstructionInfo()
 			//send a ray from {0.0, 0.0, 0.0} towards {0.0, 0.0, -10.0}, in local coordinates
-
-			
 			CcdPhysicsController* parentCtrl = ctrl->getParentCtrl();
 			btRigidBody* parentBody = parentCtrl?parentCtrl->GetRigidBody() : 0;
 			btRigidBody* cl_object = parentBody ? parentBody : body;
@@ -754,82 +749,78 @@ void	CcdPhysicsEnvironment::processFhSprings(double curTime,float timeStep)
 					btVector3 normal = resultCallback.m_hitNormalWorld;
 					normal.normalize();
 
-					
-					if (ctrl->getConstructionInfo().m_do_fh) 
+					for (int i=0; i<numIter; i++)
 					{
-						btVector3 lspot = cl_object->getCenterOfMassPosition()
-							+ rayDirLocal * resultCallback.m_closestHitFraction;
+						if (ctrl->getConstructionInfo().m_do_fh) 
+						{
+							btVector3 lspot = cl_object->getCenterOfMassPosition()
+								+ rayDirLocal * resultCallback.m_closestHitFraction;
+
 
+								
 
+							lspot -= hit_object->getCenterOfMassPosition();
+							btVector3 rel_vel = cl_object->getLinearVelocity() - hit_object->getVelocityInLocalPoint(lspot);
+							btScalar rel_vel_ray = ray_dir.dot(rel_vel);
+							btScalar spring_extent = 1.0 - distance / hitObjShapeProps.m_fh_distance; 
 							
+							btScalar i_spring = spring_extent * hitObjShapeProps.m_fh_spring;
+							btScalar i_damp =   rel_vel_ray * hitObjShapeProps.m_fh_damping;
+							
+							cl_object->setLinearVelocity(cl_object->getLinearVelocity() + (-(i_spring + i_damp) * ray_dir)); 
+							if (hitObjShapeProps.m_fh_normal) 
+							{
+								cl_object->setLinearVelocity(cl_object->getLinearVelocity()+(i_spring + i_damp) *(normal - normal.dot(ray_dir) * ray_dir));
+							}
+							
+							btVector3 lateral = rel_vel - rel_vel_ray * ray_dir;
+							
+							
+							if (ctrl->getConstructionInfo().m_do_anisotropic) {
+								//Bullet basis contains no scaling/shear etc.
+								const btMatrix3x3& lcs = cl_object->getCenterOfMassTransform().getBasis();
+								btVector3 loc_lateral = lateral * lcs;
+								const btVector3& friction_scaling = cl_object->getAnisotropicFriction();
+								loc_lateral *= friction_scaling;
+								lateral = lcs * loc_lateral;
+							}
 
-						lspot -= hit_object->getCenterOfMassPosition();
-						btVector3 rel_vel = cl_object->getLinearVelocity() - hit_object->getVelocityInLocalPoint(lspot);
-						btScalar rel_vel_ray = ray_dir.dot(rel_vel);
-						btScalar spring_extent = 1.0 - distance / hitObjShapeProps.m_fh_distance; 
-						
-						btScalar i_spring = spring_extent * hitObjShapeProps.m_fh_spring;
-						btScalar i_damp =   rel_vel_ray * hitObjShapeProps.m_fh_damping;
-						
-						cl_object->setLinearVelocity(cl_object->getLinearVelocity() + (-(i_spring + i_damp) * ray_dir)); 
-						if (hitObjShapeProps.m_fh_normal) 
-						{
-							cl_object->setLinearVelocity(cl_object->getLinearVelocity()+(i_spring + i_damp) *(normal - normal.dot(ray_dir) * ray_dir));
-						}
-						
-						btVector3 lateral = rel_vel - rel_vel_ray * ray_dir;
-						
-						
-						if (ctrl->getConstructionInfo().m_do_anisotropic) {
-							//Bullet basis contains no scaling/shear etc.
-							const btMatrix3x3& lcs = cl_object->getCenterOfMassTransform().getBasis();
-							btVector3 loc_lateral = lateral * lcs;
-							const btVector3& friction_scaling = cl_object->getAnisotropicFriction();
-							loc_lateral *= friction_scaling;
-							lateral = lcs * loc_lateral;
+							btScalar rel_vel_lateral = lateral.length();
+							
+							if (rel_vel_lateral > SIMD_EPSILON) {
+								btScalar friction_factor = hit_object->getFriction();//cl_object->getFriction();
+
+								btScalar max_friction = friction_factor * btMax(btScalar(0.0), i_spring);
+								
+								btScalar rel_mom_lateral = rel_vel_lateral / cl_object->getInvMass();
+								
+								btVector3 friction = (rel_mom_lateral > max_friction) ?
+									-lateral * (max_friction / rel_vel_lateral) :
+									-lateral;
+								
+									cl_object->applyCentralImpulse(friction);
+							}
 						}
 
-						btScalar rel_vel_lateral = lateral.length();
 						
-						if (rel_vel_lateral > SIMD_EPSILON) {
-							btScalar friction_factor = hit_object->getFriction();//cl_object->getFriction();
+						if (ctrl->getConstructionInfo().m_do_rot_fh) {
+							btVector3 up2 = cl_object->getWorldTransform().getBasis().getColumn(2);
 
-							btScalar max_friction = friction_factor * btMax(btScalar(0.0), i_spring);
+							btVector3 t_spring = up2.cross(normal) * hitObjShapeProps.m_fh_spring;
+							btVector3 ang_vel = cl_object->getAngularVelocity();
 							
-							btScalar rel_mom_lateral = rel_vel_lateral / cl_object->getInvMass();
+							// only rotations that tilt relative to the normal are damped
+							ang_vel -= ang_vel.dot(normal) * normal;
 							
-							btVector3 friction = (rel_mom_lateral > max_friction) ?
-								-lateral * (max_friction / rel_vel_lateral) :
-								-lateral;
+							btVector3 t_damp = ang_vel * hitObjShapeProps.m_fh_damping;  
 							
-								cl_object->applyCentralImpulse(friction);
+							cl_object->setAngularVelocity(cl_object->getAngularVelocity() + (t_spring - t_damp));
 						}
 					}
-
-					
-					if (ctrl->getConstructionInfo().m_do_rot_fh) {
-						btVector3 up2 = cl_object->getWorldTransform().getBasis().getColumn(2);
-
-						btVector3 t_spring = up2.cross(normal) * hitObjShapeProps.m_fh_spring;
-						btVector3 ang_vel = cl_object->getAngularVelocity();
-						
-						// only rotations that tilt relative to the normal are damped
-						ang_vel -= ang_vel.dot(normal) * normal;
-						
-						btVector3 t_damp = ang_vel * hitObjShapeProps.m_fh_damping;  
-						
-						cl_object->setAngularVelocity(cl_object->getAngularVelocity() + (t_spring - t_damp));
-					}
-
 				}
-
-
 			}
-
-
 		}
 	}
-	
 }
 
 void		CcdPhysicsEnvironment::setDebugMode(int debugMode)
diff --git a/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.h b/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.h
index f861621ae37..5f9fb9511d6 100644
--- a/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.h
+++ b/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.h
@@ -114,7 +114,7 @@ protected:
 		virtual	void		beginFrame();
 		virtual void		endFrame() {};
 		/// Perform an integration step of duration 'timeStep'.
-		virtual	bool		proceedDeltaTime(double curTime,float timeStep);
+		virtual	bool		proceedDeltaTime(double curTime,float timeStep,float interval);
 		
 		virtual void		debugDrawWorld();
 //		virtual bool		proceedDeltaTimeOneStep(float timeStep);
diff --git a/source/gameengine/Physics/Dummy/DummyPhysicsEnvironment.cpp b/source/gameengine/Physics/Dummy/DummyPhysicsEnvironment.cpp
index ba196b5cf55..e41574ff181 100644
--- a/source/gameengine/Physics/Dummy/DummyPhysicsEnvironment.cpp
+++ b/source/gameengine/Physics/Dummy/DummyPhysicsEnvironment.cpp
@@ -57,7 +57,7 @@ void DummyPhysicsEnvironment::endFrame()
 
 
 
-bool		DummyPhysicsEnvironment::proceedDeltaTime(double  curTime,float timeStep)
+bool		DummyPhysicsEnvironment::proceedDeltaTime(double  curTime,float timeStep,float interval)
 {
 	//step physics simulation, typically perform
 	
diff --git a/source/gameengine/Physics/Dummy/DummyPhysicsEnvironment.h b/source/gameengine/Physics/Dummy/DummyPhysicsEnvironment.h
index 4e15e6ec130..397a1ba4218 100644
--- a/source/gameengine/Physics/Dummy/DummyPhysicsEnvironment.h
+++ b/source/gameengine/Physics/Dummy/DummyPhysicsEnvironment.h
@@ -48,7 +48,7 @@ public:
 	virtual void		beginFrame();
 	virtual void		endFrame();
 // Perform an integration step of duration 'timeStep'.
-	virtual	bool		proceedDeltaTime(double  curTime,float timeStep);
+	virtual	bool		proceedDeltaTime(double  curTime,float timeStep,float interval);
 	virtual	void		setFixedTimeStep(bool useFixedTimeStep,float fixedTimeStep);
 	virtual	float		getFixedTimeStep();
 
diff --git a/source/gameengine/Physics/Sumo/SumoPhysicsEnvironment.cpp b/source/gameengine/Physics/Sumo/SumoPhysicsEnvironment.cpp
index 3be5e027345..cc6d5654ec9 100644
--- a/source/gameengine/Physics/Sumo/SumoPhysicsEnvironment.cpp
+++ b/source/gameengine/Physics/Sumo/SumoPhysicsEnvironment.cpp
@@ -81,7 +81,7 @@ float		SumoPhysicsEnvironment::getFixedTimeStep()
 }
 
 
-bool		SumoPhysicsEnvironment::proceedDeltaTime(double  curTime,float timeStep)
+bool		SumoPhysicsEnvironment::proceedDeltaTime(double  curTime,float timeStep,float interval)
 {
 	
 	bool result = false;
diff --git a/source/gameengine/Physics/Sumo/SumoPhysicsEnvironment.h b/source/gameengine/Physics/Sumo/SumoPhysicsEnvironment.h
index 418a361a065..c2b443a2b38 100644
--- a/source/gameengine/Physics/Sumo/SumoPhysicsEnvironment.h
+++ b/source/gameengine/Physics/Sumo/SumoPhysicsEnvironment.h
@@ -54,7 +54,7 @@ public:
 	virtual	void		beginFrame();
 	virtual void		endFrame();
 // Perform an integration step of duration 'timeStep'.
-	virtual	bool		proceedDeltaTime(double  curTime,float timeStep);
+	virtual	bool		proceedDeltaTime(double  curTime,float timeStep,float interval);
 	virtual	void		setFixedTimeStep(bool useFixedTimeStep,float fixedTimeStep);
 	virtual	float		getFixedTimeStep();
 
diff --git a/source/gameengine/Physics/common/PHY_IPhysicsEnvironment.h b/source/gameengine/Physics/common/PHY_IPhysicsEnvironment.h
index 9a4500c3214..a3605669f70 100644
--- a/source/gameengine/Physics/common/PHY_IPhysicsEnvironment.h
+++ b/source/gameengine/Physics/common/PHY_IPhysicsEnvironment.h
@@ -89,7 +89,7 @@ class PHY_IPhysicsEnvironment
 		virtual	void		beginFrame() = 0;
 		virtual void		endFrame() = 0;
 		/// Perform an integration step of duration 'timeStep'.
-		virtual	bool		proceedDeltaTime(double curTime,float timeStep)=0;
+		virtual	bool		proceedDeltaTime(double curTime,float timeStep,float interval)=0;
 		///draw debug lines (make sure to call this during the render phase, otherwise lines are not drawn properly)
 		virtual void		debugDrawWorld(){}
 		virtual	void		setFixedTimeStep(bool useFixedTimeStep,float fixedTimeStep)=0;
-- 
cgit v1.2.3


From e13a089d918cbe3709f544ccebbb718a452ac6fa Mon Sep 17 00:00:00 2001
From: Benoit Bolsee <benoit.bolsee@online.be>
Date: Fri, 1 May 2009 19:02:23 +0000
Subject: BGE: work around a problem with DBVT culling when graphic objects are
 rescaled. This happens when objects with very diverse scale are instantiated
 with dupligroup. The problem remains when the objects are rescaled during the
 game. The effect of the problem is an inefficient culling: objects can have a
 bounding box larger than needed. Patch to fix the problem is filed at Bullet
 forum.

---
 source/gameengine/Physics/Bullet/CcdGraphicController.cpp  | 11 ++++++++++-
 source/gameengine/Physics/Bullet/CcdGraphicController.h    |  4 ++++
 source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.cpp |  2 +-
 source/gameengine/Physics/common/PHY_IGraphicController.h  |  1 +
 4 files changed, 16 insertions(+), 2 deletions(-)

(limited to 'source/gameengine/Physics')

diff --git a/source/gameengine/Physics/Bullet/CcdGraphicController.cpp b/source/gameengine/Physics/Bullet/CcdGraphicController.cpp
index 2d1f841af0c..2dbbb7fa4a0 100644
--- a/source/gameengine/Physics/Bullet/CcdGraphicController.cpp
+++ b/source/gameengine/Physics/Bullet/CcdGraphicController.cpp
@@ -118,8 +118,17 @@ PHY_IGraphicController* CcdGraphicController::GetReplica(class PHY_IMotionState*
 	replica->m_motionState = motionState;
 	replica->m_newClientInfo = NULL;
 	replica->m_handle = NULL;
-	m_phyEnv->addCcdGraphicController(replica);
+	// don't add the graphic controller now: work around a bug in Bullet with rescaling, 
+	// (the scale of the controller is not yet defined).
+	//m_phyEnv->addCcdGraphicController(replica);
 	return replica;
 }
 
+void CcdGraphicController::Activate(bool active)
+{
+	if (active)
+		m_phyEnv->addCcdGraphicController(this);
+	else
+		m_phyEnv->removeCcdGraphicController(this);
 
+}
diff --git a/source/gameengine/Physics/Bullet/CcdGraphicController.h b/source/gameengine/Physics/Bullet/CcdGraphicController.h
index 8f44a623371..b0626f902c2 100644
--- a/source/gameengine/Physics/Bullet/CcdGraphicController.h
+++ b/source/gameengine/Physics/Bullet/CcdGraphicController.h
@@ -55,6 +55,10 @@ public:
 	 * Updates the Aabb based on the motion state
 	 */
 	virtual bool SetGraphicTransform();
+	/**
+	 * Add/remove to environment
+	 */
+	virtual void Activate(bool active);
 
 	// client info for culling
 	virtual	void* getNewClientInfo() { return m_newClientInfo; }
diff --git a/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.cpp b/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.cpp
index bcf83e25d84..03c9d13a7dd 100644
--- a/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.cpp
+++ b/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.cpp
@@ -579,7 +579,7 @@ void CcdPhysicsEnvironment::refreshCcdPhysicsController(CcdPhysicsController* ct
 
 void CcdPhysicsEnvironment::addCcdGraphicController(CcdGraphicController* ctrl)
 {
-	if (m_cullingTree)
+	if (m_cullingTree && !ctrl->getBroadphaseHandle())
 	{
 		btVector3	minAabb;
 		btVector3	maxAabb;
diff --git a/source/gameengine/Physics/common/PHY_IGraphicController.h b/source/gameengine/Physics/common/PHY_IGraphicController.h
index 8acc5c2f9d3..470d42cb84a 100644
--- a/source/gameengine/Physics/common/PHY_IGraphicController.h
+++ b/source/gameengine/Physics/common/PHY_IGraphicController.h
@@ -47,6 +47,7 @@ class PHY_IGraphicController : public PHY_IController
 			SynchronizeMotionStates ynchronizes dynas, kinematic and deformable entities (and do 'late binding')
 		*/
 		virtual bool SetGraphicTransform()=0;
+		virtual void Activate(bool active=true)=0;
 		virtual void setLocalAabb(const PHY__Vector3& aabbMin,const PHY__Vector3& aabbMax)=0;
 		virtual void setLocalAabb(const float* aabbMin,const float* aabbMax)=0;
 
-- 
cgit v1.2.3


From d95a10999052ad308599cb0fbbe7ed4f59870c9c Mon Sep 17 00:00:00 2001
From: Benoit Bolsee <benoit.bolsee@online.be>
Date: Thu, 14 May 2009 13:47:08 +0000
Subject: BGE modifier: generate correct physic shape, share static derived
 mesh, share display list.

This commit completes the support for modifiers in the BGE.
- The physic shape is generated according to the derived mesh.
  This is true for all types of shapes and all types of
  objects except soft body.
- Optimization for static derived mesh (mesh with modifiers
  but no armature and no shape keys). Replicas will share
  the derived mesh and the display list: less memory and
  faster rendering. With this optimization, the static
  derived mesh will render as fast as if the modifiers were
  applied.

Known Limits:
- Sharing of mesh and display list is only possible between
  in-game replicas or dupligroup. If you want to instantiate
  multiple objects with modifiers, use dupligroup to ensure
  best memory and GPU utilization.
- rayCast() will interact with the derived mesh as follow:
  Hit position and hit normal are the real values according
  to the derived mesh but the KX_PolyProxy object refers to
  the original mesh. You should use it only to retrieve the
  material.
- Dynamic derived mesh have very poor performance:
  They use direct openGL calls for rendering (no support
  for display list and vertex array) and they dont't share
  the derived mesh memory. Always apply modifiers on dynamic
  mesh for best performance.
- Time dependent modifiers are not supported.
- Modifiers are not supported for Bullet soft body.
---
 source/gameengine/Physics/Bullet/CMakeLists.txt    |   3 +
 .../Physics/Bullet/CcdPhysicsController.cpp        | 200 ++++++++++++---------
 .../Physics/Bullet/CcdPhysicsController.h          |   5 +-
 source/gameengine/Physics/Bullet/Makefile          |   2 +
 source/gameengine/Physics/Bullet/SConscript        |   3 +
 5 files changed, 124 insertions(+), 89 deletions(-)

(limited to 'source/gameengine/Physics')

diff --git a/source/gameengine/Physics/Bullet/CMakeLists.txt b/source/gameengine/Physics/Bullet/CMakeLists.txt
index ec2cdede683..02f2aa635af 100644
--- a/source/gameengine/Physics/Bullet/CMakeLists.txt
+++ b/source/gameengine/Physics/Bullet/CMakeLists.txt
@@ -32,6 +32,7 @@ SET(INC
   ../../../../extern/bullet2/src
   ../../../../extern/glew/include
   ../../../../intern/moto/include
+  ../../../../intern/guardedalloc
   ../../../kernel/gen_system
   ../../../../intern/string
   ../../../../intern/SoundSystem 
@@ -41,6 +42,8 @@ SET(INC
   ../../GameLogic
   ../../SceneGraph
   ../../../../source/blender/makesdna
+  ../../../../source/blender/blenlib
+  ../../../../source/blender/blenkernel
   ${PYTHON_INC}
 )
 
diff --git a/source/gameengine/Physics/Bullet/CcdPhysicsController.cpp b/source/gameengine/Physics/Bullet/CcdPhysicsController.cpp
index 961e9096442..01e8aa2560f 100644
--- a/source/gameengine/Physics/Bullet/CcdPhysicsController.cpp
+++ b/source/gameengine/Physics/Bullet/CcdPhysicsController.cpp
@@ -35,6 +35,10 @@ subject to the following restrictions:
 #include "DNA_mesh_types.h"
 #include "DNA_meshdata_types.h"
 
+extern "C"{
+#include "BKE_cdderivedmesh.h"
+}
+
 class BP_Proxy;
 
 ///todo: fill all the empty CcdPhysicsController methods, hook them up to the btRigidBody class
@@ -1312,9 +1316,9 @@ void	DefaultMotionState::calculateWorldTransformations()
 // Shape constructor
 std::map<RAS_MeshObject*, CcdShapeConstructionInfo*> CcdShapeConstructionInfo::m_meshShapeMap;
 
-CcdShapeConstructionInfo* CcdShapeConstructionInfo::FindMesh(RAS_MeshObject* mesh, bool polytope)
+CcdShapeConstructionInfo* CcdShapeConstructionInfo::FindMesh(RAS_MeshObject* mesh, struct DerivedMesh* dm, bool polytope, bool gimpact)
 {
-	if (polytope)
+	if (polytope || dm || gimpact)
 		// not yet supported
 		return NULL;
 
@@ -1324,9 +1328,9 @@ CcdShapeConstructionInfo* CcdShapeConstructionInfo::FindMesh(RAS_MeshObject* mes
 	return NULL;
 }
 
-bool CcdShapeConstructionInfo::SetMesh(RAS_MeshObject* meshobj, bool polytope,bool useGimpact)
+bool CcdShapeConstructionInfo::SetMesh(RAS_MeshObject* meshobj, DerivedMesh* dm, bool polytope,bool useGimpact)
 {
-	int numpolys;
+	int numpolys, numverts;
 
 	m_useGimpact = useGimpact;
 
@@ -1335,6 +1339,7 @@ bool CcdShapeConstructionInfo::SetMesh(RAS_MeshObject* meshobj, bool polytope,bo
 	assert(IsUnused());
 	m_shapeType = PHY_SHAPE_NONE;
 	m_meshObject = NULL;
+	bool free_dm = false;
 
 	// No mesh object or mesh has no polys
 	if (!meshobj || meshobj->HasColliderPolygon()==false) {
@@ -1344,12 +1349,21 @@ bool CcdShapeConstructionInfo::SetMesh(RAS_MeshObject* meshobj, bool polytope,bo
 		return false;
 	}
 
-	numpolys = meshobj->NumPolygons();
+	if (!dm) {
+		free_dm = true;
+		dm = CDDM_from_mesh(meshobj->GetMesh(), NULL);
+	}
+
+	MVert *mvert = dm->getVertArray(dm);
+	MFace *mface = dm->getFaceArray(dm);
+	numpolys = dm->getNumFaces(dm);
+	numverts = dm->getNumVerts(dm);
+	int* index = (int*)dm->getFaceDataArray(dm, CD_ORIGINDEX);
 
 	m_shapeType = (polytope) ? PHY_SHAPE_POLYTOPE : PHY_SHAPE_MESH;
 
 	/* Convert blender geometry into bullet mesh, need these vars for mapping */
-	vector<bool> vert_tag_array(meshobj->GetMesh()->totvert, false);
+	vector<bool> vert_tag_array(numverts, false);
 	unsigned int tot_bt_verts= 0;
 	unsigned int orig_index;
 	int i;
@@ -1359,19 +1373,16 @@ bool CcdShapeConstructionInfo::SetMesh(RAS_MeshObject* meshobj, bool polytope,bo
 		// Tag verts we're using
 		for (int p2=0; p2<numpolys; p2++)
 		{
-			RAS_Polygon* poly= meshobj->GetPolygon(p2);
+			MFace* mf = &mface[p2];
+			RAS_Polygon* poly = meshobj->GetPolygon(index[p2]);
 
 			// only add polygons that have the collision flag set
 			if (poly->IsCollider())
 			{
-				for(i=0; i<poly->VertexCount(); i++) {
-					orig_index= poly->GetVertex(i)->getOrigIndex();
-					if (vert_tag_array[orig_index]==false)
-					{
-						vert_tag_array[orig_index]= true;
-						tot_bt_verts++;
-					}
-				}
+				if (vert_tag_array[mf->v1]==false) {vert_tag_array[mf->v1]= true;tot_bt_verts++;}
+				if (vert_tag_array[mf->v2]==false) {vert_tag_array[mf->v2]= true;tot_bt_verts++;}
+				if (vert_tag_array[mf->v3]==false) {vert_tag_array[mf->v3]= true;tot_bt_verts++;}
+				if (mf->v4 && vert_tag_array[mf->v4]==false) {vert_tag_array[mf->v4]= true;tot_bt_verts++;}
 			}
 		}
 
@@ -1381,51 +1392,69 @@ bool CcdShapeConstructionInfo::SetMesh(RAS_MeshObject* meshobj, bool polytope,bo
 
 		for (int p2=0; p2<numpolys; p2++)
 		{
-			RAS_Polygon* poly= meshobj->GetPolygon(p2);
+			MFace* mf = &mface[p2];
+			RAS_Polygon* poly= meshobj->GetPolygon(index[p2]);
 
 			// only add polygons that have the collisionflag set
 			if (poly->IsCollider())
 			{
-				for(i=0; i<poly->VertexCount(); i++) {
-					RAS_TexVert *v= poly->GetVertex(i);
-					orig_index= v->getOrigIndex();
-
-					if (vert_tag_array[orig_index]==true)
-					{
-						const float* vtx = v->getXYZ();
-						vert_tag_array[orig_index]= false;
-
-						*bt++ = vtx[0];
-						*bt++ = vtx[1];
-						*bt++ = vtx[2];
-					}
+				if (vert_tag_array[mf->v1]==true)
+				{
+					const float* vtx = mvert[mf->v1].co;
+					vert_tag_array[mf->v1]= false;
+					*bt++ = vtx[0];
+					*bt++ = vtx[1];
+					*bt++ = vtx[2];
+				}
+				if (vert_tag_array[mf->v2]==true)
+				{
+					const float* vtx = mvert[mf->v2].co;
+					vert_tag_array[mf->v2]= false;
+					*bt++ = vtx[0];
+					*bt++ = vtx[1];
+					*bt++ = vtx[2];
+				}
+				if (vert_tag_array[mf->v3]==true)
+				{
+					const float* vtx = mvert[mf->v3].co;
+					vert_tag_array[mf->v3]= false;
+					*bt++ = vtx[0];
+					*bt++ = vtx[1];
+					*bt++ = vtx[2];
+				}
+				if (mf->v4 && vert_tag_array[mf->v4]==true)
+				{
+					const float* vtx = mvert[mf->v4].co;
+					vert_tag_array[mf->v4]= false;
+					*bt++ = vtx[0];
+					*bt++ = vtx[1];
+					*bt++ = vtx[2];
 				}
 			}
 		}
 	}
 	else {
 		unsigned int tot_bt_tris= 0;
-		vector<int> vert_remap_array(meshobj->GetMesh()->totvert, 0);
+		vector<int> vert_remap_array(numverts, 0);
 		
 		// Tag verts we're using
 		for (int p2=0; p2<numpolys; p2++)
 		{
-			RAS_Polygon* poly= meshobj->GetPolygon(p2);
+			MFace* mf = &mface[p2];
+			RAS_Polygon* poly= meshobj->GetPolygon(index[p2]);
 
 			// only add polygons that have the collision flag set
 			if (poly->IsCollider())
 			{
-				for(i=0; i<poly->VertexCount(); i++) {
-					orig_index= poly->GetVertex(i)->getOrigIndex();
-					if (vert_tag_array[orig_index]==false)
-					{
-						vert_tag_array[orig_index]= true;
-						vert_remap_array[orig_index]= tot_bt_verts;
-						tot_bt_verts++;
-					}
-				}
-
-				tot_bt_tris += (i==4 ? 2:1); /* a quad or a tri */
+				if (vert_tag_array[mf->v1]==false)
+					{vert_tag_array[mf->v1]= true;vert_remap_array[mf->v1]= tot_bt_verts;tot_bt_verts++;}
+				if (vert_tag_array[mf->v2]==false)
+					{vert_tag_array[mf->v2]= true;vert_remap_array[mf->v2]= tot_bt_verts;tot_bt_verts++;}
+				if (vert_tag_array[mf->v3]==false)
+					{vert_tag_array[mf->v3]= true;vert_remap_array[mf->v3]= tot_bt_verts;tot_bt_verts++;}
+				if (mf->v4 && vert_tag_array[mf->v4]==false)
+					{vert_tag_array[mf->v4]= true;vert_remap_array[mf->v4]= tot_bt_verts;tot_bt_verts++;}
+				tot_bt_tris += (mf->v4 ? 2:1); /* a quad or a tri */
 			}
 		}
 
@@ -1437,76 +1466,67 @@ bool CcdShapeConstructionInfo::SetMesh(RAS_MeshObject* meshobj, bool polytope,bo
 		int *poly_index_pt= &m_polygonIndexArray[0];
 		int *tri_pt= &m_triFaceArray[0];
 
-
 		for (int p2=0; p2<numpolys; p2++)
 		{
-			RAS_Polygon* poly= meshobj->GetPolygon(p2);
+			MFace* mf = &mface[p2];
+			RAS_Polygon* poly= meshobj->GetPolygon(index[p2]);
 
 			// only add polygons that have the collisionflag set
 			if (poly->IsCollider())
 			{
-				RAS_TexVert *v1= poly->GetVertex(0);
-				RAS_TexVert *v2= poly->GetVertex(1);
-				RAS_TexVert *v3= poly->GetVertex(2);
-				int i1= v1->getOrigIndex();
-				int i2= v2->getOrigIndex();
-				int i3= v3->getOrigIndex();
-				const float* vtx;
+				MVert *v1= &mvert[mf->v1];
+				MVert *v2= &mvert[mf->v2];
+				MVert *v3= &mvert[mf->v3];
 
 				// the face indicies
-				tri_pt[0]= vert_remap_array[i1];
-				tri_pt[1]= vert_remap_array[i2];
-				tri_pt[2]= vert_remap_array[i3];
+				tri_pt[0]= vert_remap_array[mf->v1];
+				tri_pt[1]= vert_remap_array[mf->v2];
+				tri_pt[2]= vert_remap_array[mf->v3];
 				tri_pt= tri_pt+3;
 
 				// m_polygonIndexArray
-				*poly_index_pt= p2;
+				*poly_index_pt= index[p2];
 				poly_index_pt++;
 
 				// the vertex location
-				if (vert_tag_array[i1]==true) { /* *** v1 *** */
-					vert_tag_array[i1]= false;
-					vtx = v1->getXYZ();
-					*bt++ = vtx[0];
-					*bt++ = vtx[1];
-					*bt++ = vtx[2];
+				if (vert_tag_array[mf->v1]==true) { /* *** v1 *** */
+					vert_tag_array[mf->v1]= false;
+					*bt++ = v1->co[0];
+					*bt++ = v1->co[1];
+					*bt++ = v1->co[2];
 				}
-				if (vert_tag_array[i2]==true) { /* *** v2 *** */
-					vert_tag_array[i2]= false;
-					vtx = v2->getXYZ();
-					*bt++ = vtx[0];
-					*bt++ = vtx[1];
-					*bt++ = vtx[2];
+				if (vert_tag_array[mf->v2]==true) { /* *** v2 *** */
+					vert_tag_array[mf->v2]= false;
+					*bt++ = v2->co[0];
+					*bt++ = v2->co[1];
+					*bt++ = v2->co[2];
 				}
-				if (vert_tag_array[i3]==true) { /* *** v3 *** */
-					vert_tag_array[i3]= false;
-					vtx = v3->getXYZ();
-					*bt++ = vtx[0];	
-					*bt++ = vtx[1];
-					*bt++ = vtx[2];
+				if (vert_tag_array[mf->v3]==true) { /* *** v3 *** */
+					vert_tag_array[mf->v3]= false;
+					*bt++ = v3->co[0];	
+					*bt++ = v3->co[1];
+					*bt++ = v3->co[2];
 				}
 
-				if (poly->VertexCount()==4)
+				if (mf->v4)
 				{
-					RAS_TexVert *v4= poly->GetVertex(3);
-					int i4= v4->getOrigIndex();
+					MVert *v4= &mvert[mf->v4];
 
-					tri_pt[0]= vert_remap_array[i1];
-					tri_pt[1]= vert_remap_array[i3];
-					tri_pt[2]= vert_remap_array[i4];
+					tri_pt[0]= vert_remap_array[mf->v1];
+					tri_pt[1]= vert_remap_array[mf->v3];
+					tri_pt[2]= vert_remap_array[mf->v4];
 					tri_pt= tri_pt+3;
 
 					// m_polygonIndexArray
-					*poly_index_pt= p2;
+					*poly_index_pt= index[p2];
 					poly_index_pt++;
 
 					// the vertex location
-					if (vert_tag_array[i4]==true) { /* *** v4 *** */
-						vert_tag_array[i4]= false;
-						vtx = v4->getXYZ();
-						*bt++ = vtx[0];
-						*bt++ = vtx[1];	
-						*bt++ = vtx[2];
+					if (vert_tag_array[mf->v4]==true) { /* *** v4 *** */
+						vert_tag_array[mf->v4]= false;
+						*bt++ = v4->co[0];
+						*bt++ = v4->co[1];	
+						*bt++ = v4->co[2];
 					}
 				}
 			}
@@ -1538,7 +1558,13 @@ bool CcdShapeConstructionInfo::SetMesh(RAS_MeshObject* meshobj, bool polytope,bo
 #endif
 	
 	m_meshObject = meshobj;
-	if (!polytope)
+	if (free_dm) {
+		dm->release(dm);
+		dm = NULL;
+	}
+
+	// sharing only on static mesh at present, if you change that, you must also change in FindMesh
+	if (!polytope && !dm && !useGimpact)
 	{
 		// triangle shape can be shared, store the mesh object in the map
 		m_meshShapeMap.insert(std::pair<RAS_MeshObject*,CcdShapeConstructionInfo*>(meshobj,this));
diff --git a/source/gameengine/Physics/Bullet/CcdPhysicsController.h b/source/gameengine/Physics/Bullet/CcdPhysicsController.h
index 4ab478b2106..315e2bdf429 100644
--- a/source/gameengine/Physics/Bullet/CcdPhysicsController.h
+++ b/source/gameengine/Physics/Bullet/CcdPhysicsController.h
@@ -36,6 +36,7 @@ extern bool gDisableDeactivation;
 class CcdPhysicsEnvironment;
 class btMotionState;
 class RAS_MeshObject;
+struct DerivedMesh;
 class btCollisionShape;
 
 
@@ -59,7 +60,7 @@ class CcdShapeConstructionInfo
 public:
 	
 
-	static CcdShapeConstructionInfo* FindMesh(RAS_MeshObject* mesh, bool polytope);
+	static CcdShapeConstructionInfo* FindMesh(class RAS_MeshObject* mesh, struct DerivedMesh* dm, bool polytope, bool gimpact);
 
 	CcdShapeConstructionInfo() :
 		m_shapeType(PHY_SHAPE_NONE),
@@ -139,7 +140,7 @@ public:
 		return true;
 	}
 
-	bool SetMesh(RAS_MeshObject* mesh, bool polytope,bool useGimpact);
+	bool SetMesh(class RAS_MeshObject* mesh, struct DerivedMesh* dm, bool polytope,bool useGimpact);
 	RAS_MeshObject* GetMesh(void)
 	{
 		return m_meshObject;
diff --git a/source/gameengine/Physics/Bullet/Makefile b/source/gameengine/Physics/Bullet/Makefile
index 48e537bb6a3..19b17de275a 100644
--- a/source/gameengine/Physics/Bullet/Makefile
+++ b/source/gameengine/Physics/Bullet/Makefile
@@ -51,4 +51,6 @@ CPPFLAGS += -I../../Expressions
 CPPFLAGS += -I../../GameLogic
 CPPFLAGS += -I../../SceneGraph
 CPPFLAGS += -I../../../../source/blender/makesdna
+CPPFLAGS += -I../../../../source/blender/blenkernel
+CPPFLAGS += -I../../../../source/blender/blenlib
 
diff --git a/source/gameengine/Physics/Bullet/SConscript b/source/gameengine/Physics/Bullet/SConscript
index 115ab8bf730..c517d8b5d9d 100644
--- a/source/gameengine/Physics/Bullet/SConscript
+++ b/source/gameengine/Physics/Bullet/SConscript
@@ -14,7 +14,10 @@ incs += ' #source/gameengine/Expressions'
 incs += ' #source/gameengine/GameLogic'
 incs += ' #source/gameengine/SceneGraph'
 incs += ' #source/blender/makesdna'
+incs += ' #source/blender/blenkernel'
+incs += ' #source/blender/blenlib'
 incs += ' #intern/SoundSystem'
+incs += ' #intern/guardedalloc'
 
 incs += ' ' + env['BF_BULLET_INC']
 incs += ' ' + env['BF_PYTHON_INC']
-- 
cgit v1.2.3


From 3ea1c1b4b640b18e651de7eacb40bb7cc7a2f55f Mon Sep 17 00:00:00 2001
From: Benoit Bolsee <benoit.bolsee@online.be>
Date: Sun, 17 May 2009 12:51:51 +0000
Subject: BGE: new sensor object to generalize Near and Radar sensor,
 static-static collision capbility.

A new type of "Sensor" physics object is available in the GE for advanced
collision management. It's called Sensor for its similarities with the
physics objects that underlie the Near and Radar sensors.
Like the Near and Radar object it is:
- static and ghost
- invisible by default
- always active to ensure correct collision detection
- capable of detecting both static and dynamic objects
- ignoring collision with their parent
- capable of broadphase filtering based on:
  * Actor option: the collisioning object must have the Actor flag set to be detected
  * property/material: as specified in the collision sensors attached to it
  Broadphase filtering is important for performance reason: the collision points
  will be computed only for the objects that pass the broahphase filter.
- automatically removed from the simulation when no collision sensor is active on it

Unlike the Near and Radar object it can:
- take any shape, including triangle mesh
- be made visible for debugging (just use the Visible actuator)
- have multiple collision sensors using it

Other than that, the sensor objects are ordinary objects. You can move them
freely or parent them. When parented to a dynamic object, they can provide
advanced collision control to this object.

The type of collision capability depends on the shape:
- box, sphere, cylinder, cone, convex hull provide volume detection.
- triangle mesh provides surface detection but you can give some volume
  to the suface by increasing the margin in the Advanced Settings panel.
  The margin applies on both sides of the surface.

Performance tip:
- Sensor objects perform better than Near and Radar: they do less synchronizations
  because of the Scenegraph optimizations and they can have multiple collision sensors
  on them (with different property filtering for example).
- Always prefer simple shape (box, sphere) to complex shape whenever possible.
- Always use broadphase filtering (avoid collision sensor with empty propery/material)
- Use collision sensor only when you need them. When no collision sensor is active
  on the sensor object, it is removed from the simulation and consume no CPU.

Known limitations:
- When running Blender in debug mode, you will see one warning line of the console:
  "warning btCollisionDispatcher::needsCollision: static-static collision!"
  In release mode this message is not printed.
- Collision margin has no effect on sphere, cone and cylinder shape.

Other performance improvements:
- Remove unnecessary interpolation for Near and Radar objects and by extension
  sensor objects.
- Use direct matrix copy instead of quaternion to synchronize orientation.

Other bug fix:
- Fix Near/Radar position error on newly activated objects. This was causing
  several detection problems in YoFrankie
- Fix margin not passed correctly to gImpact shape.
- Disable force/velocity actions on static objects
---
 .../Physics/BlOde/OdePhysicsController.cpp         |   5 +-
 .../Physics/BlOde/OdePhysicsController.h           |   1 +
 .../Physics/BlOde/OdePhysicsEnvironment.h          |   4 +-
 .../Physics/Bullet/CcdPhysicsController.cpp        | 199 ++++++++++++---------
 .../Physics/Bullet/CcdPhysicsController.h          |  14 +-
 .../Physics/Bullet/CcdPhysicsEnvironment.cpp       |  87 ++-------
 .../Physics/Bullet/CcdPhysicsEnvironment.h         |   4 +-
 .../Physics/Dummy/DummyPhysicsEnvironment.h        |   4 +-
 .../Physics/Sumo/SumoPhysicsController.cpp         |   5 +
 .../Physics/Sumo/SumoPhysicsController.h           |   1 +
 .../Physics/Sumo/SumoPhysicsEnvironment.cpp        |   7 +-
 .../Physics/Sumo/SumoPhysicsEnvironment.h          |   4 +-
 .../gameengine/Physics/common/PHY_IMotionState.h   |   2 +
 .../Physics/common/PHY_IPhysicsController.h        |   3 +-
 .../Physics/common/PHY_IPhysicsEnvironment.h       |   4 +-
 15 files changed, 164 insertions(+), 180 deletions(-)

(limited to 'source/gameengine/Physics')

diff --git a/source/gameengine/Physics/BlOde/OdePhysicsController.cpp b/source/gameengine/Physics/BlOde/OdePhysicsController.cpp
index efe4554d970..5efd0994311 100644
--- a/source/gameengine/Physics/BlOde/OdePhysicsController.cpp
+++ b/source/gameengine/Physics/BlOde/OdePhysicsController.cpp
@@ -379,7 +379,10 @@ bool ODEPhysicsController::SynchronizeMotionStates(float time)
   return false; //it update the worldpos
 }
  
-
+PHY_IMotionState* ODEPhysicsController::GetMotionState()
+{
+	return m_MotionState;
+}
 
 
 // kinematic methods
diff --git a/source/gameengine/Physics/BlOde/OdePhysicsController.h b/source/gameengine/Physics/BlOde/OdePhysicsController.h
index e97afdb68c3..544d11da2ca 100644
--- a/source/gameengine/Physics/BlOde/OdePhysicsController.h
+++ b/source/gameengine/Physics/BlOde/OdePhysicsController.h
@@ -102,6 +102,7 @@ public:
 
 	virtual	void		WriteDynamicsToMotionState() {};
 	virtual void	WriteMotionStateToDynamics(bool nondynaonly);
+	virtual class PHY_IMotionState* GetMotionState();
 
 	/** 
 		call from Scene Graph Node to 'update'.
diff --git a/source/gameengine/Physics/BlOde/OdePhysicsEnvironment.h b/source/gameengine/Physics/BlOde/OdePhysicsEnvironment.h
index 82e26e01460..54e4f7f90e1 100644
--- a/source/gameengine/Physics/BlOde/OdePhysicsEnvironment.h
+++ b/source/gameengine/Physics/BlOde/OdePhysicsEnvironment.h
@@ -64,8 +64,8 @@ public:
 	virtual void addTouchCallback(int response_class, PHY_ResponseCallback callback, void *user)
 	{
 	}
-	virtual void requestCollisionCallback(PHY_IPhysicsController* ctrl) {}
-	virtual void removeCollisionCallback(PHY_IPhysicsController* ctrl) {}
+	virtual bool requestCollisionCallback(PHY_IPhysicsController* ctrl) {return false;}
+	virtual bool removeCollisionCallback(PHY_IPhysicsController* ctrl) {return false;}
 	virtual PHY_IPhysicsController*	CreateSphereController(float radius,const PHY__Vector3& position) {return 0;}
 	virtual PHY_IPhysicsController* CreateConeController(float coneradius,float coneheight) { return 0;}
 
diff --git a/source/gameengine/Physics/Bullet/CcdPhysicsController.cpp b/source/gameengine/Physics/Bullet/CcdPhysicsController.cpp
index 01e8aa2560f..7302c47f4bf 100644
--- a/source/gameengine/Physics/Bullet/CcdPhysicsController.cpp
+++ b/source/gameengine/Physics/Bullet/CcdPhysicsController.cpp
@@ -92,16 +92,19 @@ CcdPhysicsController::CcdPhysicsController (const CcdConstructionInfo& ci)
 
 }
 
-btTransform	CcdPhysicsController::GetTransformFromMotionState(PHY_IMotionState* motionState)
+btTransform&	CcdPhysicsController::GetTransformFromMotionState(PHY_IMotionState* motionState)
 {
-	btTransform trans;
-	float tmp[3];
-	motionState->getWorldPosition(tmp[0],tmp[1],tmp[2]);
-	trans.setOrigin(btVector3(tmp[0],tmp[1],tmp[2]));
-
-	btQuaternion orn;
-	motionState->getWorldOrientation(orn[0],orn[1],orn[2],orn[3]);
-	trans.setRotation(orn);
+	static btTransform trans;
+	btVector3 tmp;
+	motionState->getWorldPosition(tmp.m_floats[0], tmp.m_floats[1], tmp.m_floats[2]);
+	trans.setOrigin(tmp);
+
+	float ori[12];
+	motionState->getWorldOrientation(ori);
+	trans.getBasis().setFromOpenGLSubMatrix(ori);
+	//btQuaternion orn;
+	//motionState->getWorldOrientation(orn[0],orn[1],orn[2],orn[3]);
+	//trans.setRotation(orn);
 	return trans;
 
 }
@@ -118,18 +121,18 @@ public:
 
 	}
 
-	virtual void	getWorldTransform(btTransform& worldTrans ) const
+	void	getWorldTransform(btTransform& worldTrans ) const
 	{
-		float pos[3];
-		float quatOrn[4];
+		btVector3 pos;
+		float ori[12];
 
-		m_blenderMotionState->getWorldPosition(pos[0],pos[1],pos[2]);
-		m_blenderMotionState->getWorldOrientation(quatOrn[0],quatOrn[1],quatOrn[2],quatOrn[3]);
-		worldTrans.setOrigin(btVector3(pos[0],pos[1],pos[2]));
-		worldTrans.setBasis(btMatrix3x3(btQuaternion(quatOrn[0],quatOrn[1],quatOrn[2],quatOrn[3])));
+		m_blenderMotionState->getWorldPosition(pos.m_floats[0],pos.m_floats[1],pos.m_floats[2]);
+		m_blenderMotionState->getWorldOrientation(ori);
+		worldTrans.setOrigin(pos);
+		worldTrans.getBasis().setFromOpenGLSubMatrix(ori);
 	}
 
-	virtual void	setWorldTransform(const btTransform& worldTrans)
+	void	setWorldTransform(const btTransform& worldTrans)
 	{
 		m_blenderMotionState->setWorldPosition(worldTrans.getOrigin().getX(),worldTrans.getOrigin().getY(),worldTrans.getOrigin().getZ());
 		btQuaternion rotQuat = worldTrans.getRotation();
@@ -493,10 +496,12 @@ void CcdPhysicsController::CreateRigidbody()
 	//convert collision flags!
 	//special case: a near/radar sensor controller should not be defined static or it will
 	//generate loads of static-static collision messages on the console
-	if ((m_cci.m_collisionFilterGroup & CcdConstructionInfo::SensorFilter) != 0)
+	if (m_cci.m_bSensor)
 	{
 		// reset the flags that have been set so far
 		GetCollisionObject()->setCollisionFlags(0);
+		// sensor must never go to sleep: they need to detect continously
+		GetCollisionObject()->setActivationState(DISABLE_DEACTIVATION);
 	}
 	GetCollisionObject()->setCollisionFlags(m_object->getCollisionFlags() | m_cci.m_collisionFlags);
 	btRigidBody* body = GetRigidBody();
@@ -613,12 +618,13 @@ bool		CcdPhysicsController::SynchronizeMotionStates(float time)
 				body->setLinearVelocity(linvel * (m_cci.m_clamp_vel_min / len));
 		}
 		
-		const btVector3& worldPos = body->getCenterOfMassPosition();
+		const btTransform& xform = body->getCenterOfMassTransform();
+		const btMatrix3x3& worldOri = xform.getBasis();
+		const btVector3& worldPos = xform.getOrigin();
+		float ori[12];
+		worldOri.getOpenGLSubMatrix(ori);
+		m_MotionState->setWorldOrientation(ori);
 		m_MotionState->setWorldPosition(worldPos[0],worldPos[1],worldPos[2]);
-		
-		const btQuaternion& worldquat = body->getOrientation();
-		m_MotionState->setWorldOrientation(worldquat[0],worldquat[1],worldquat[2],worldquat[3]);
-
 		m_MotionState->calculateWorldTransformations();
 
 		float scale[3];
@@ -655,8 +661,10 @@ bool		CcdPhysicsController::SynchronizeMotionStates(float time)
 		
 void		CcdPhysicsController::WriteMotionStateToDynamics(bool nondynaonly)
 {
-
+	btTransform& xform = CcdPhysicsController::GetTransformFromMotionState(m_MotionState);
+	SetCenterOfMassTransform(xform);
 }
+
 void		CcdPhysicsController::WriteDynamicsToMotionState()
 {
 }
@@ -673,12 +681,12 @@ void		CcdPhysicsController::PostProcessReplica(class PHY_IMotionState* motionsta
 	if (m_shapeInfo)
 	{
 		m_shapeInfo->AddRef();
-		m_collisionShape = m_shapeInfo->CreateBulletShape();
+		m_collisionShape = m_shapeInfo->CreateBulletShape(m_cci.m_margin);
 
 		if (m_collisionShape)
 		{
 			// new shape has no scaling, apply initial scaling
-			m_collisionShape->setMargin(m_cci.m_margin);
+			//m_collisionShape->setMargin(m_cci.m_margin);
 			m_collisionShape->setLocalScaling(m_cci.m_scaling);
 			
 			if (m_cci.m_mass)
@@ -697,8 +705,10 @@ void		CcdPhysicsController::PostProcessReplica(class PHY_IMotionState* motionsta
 		{
 			body->setMassProps(m_cci.m_mass, m_cci.m_localInertiaTensor * m_cci.m_inertiaFactor);
 		}
-	}			
-	m_cci.m_physicsEnv->addCcdPhysicsController(this);
+	}	
+	// sensor object are added when needed
+	if (!m_cci.m_bSensor)
+		m_cci.m_physicsEnv->addCcdPhysicsController(this);
 
 
 /*	SM_Object* dynaparent=0;
@@ -773,7 +783,7 @@ void		CcdPhysicsController::RelativeTranslate(float dlocX,float dlocY,float dloc
 	if (m_object)
 	{
 		m_object->activate(true);
-		if (m_object->isStaticObject())
+		if (m_object->isStaticObject() && !m_cci.m_bSensor)
 		{
 			m_object->setCollisionFlags(m_object->getCollisionFlags() | btCollisionObject::CF_KINEMATIC_OBJECT);
 		}
@@ -799,7 +809,7 @@ void		CcdPhysicsController::RelativeRotate(const float rotval[9],bool local)
 	if (m_object)
 	{
 		m_object->activate(true);
-		if (m_object->isStaticObject())
+		if (m_object->isStaticObject() && !m_cci.m_bSensor)
 		{
 			m_object->setCollisionFlags(m_object->getCollisionFlags() | btCollisionObject::CF_KINEMATIC_OBJECT);
 		}
@@ -843,7 +853,7 @@ void		CcdPhysicsController::setOrientation(float quatImag0,float quatImag1,float
 	if (m_object)
 	{
 		m_object->activate(true);
-		if (m_object->isStaticObject())
+		if (m_object->isStaticObject() && !m_cci.m_bSensor)
 		{
 			m_object->setCollisionFlags(m_object->getCollisionFlags() | btCollisionObject::CF_KINEMATIC_OBJECT);
 		}
@@ -866,7 +876,7 @@ void CcdPhysicsController::setWorldOrientation(const btMatrix3x3& orn)
 	if (m_object)
 	{
 		m_object->activate(true);
-		if (m_object->isStaticObject())
+		if (m_object->isStaticObject() && !m_cci.m_bSensor)
 		{
 			m_object->setCollisionFlags(m_object->getCollisionFlags() | btCollisionObject::CF_KINEMATIC_OBJECT);
 		}
@@ -895,7 +905,7 @@ void		CcdPhysicsController::setPosition(float posX,float posY,float posZ)
 	if (m_object)
 	{
 		m_object->activate(true);
-		if (m_object->isStaticObject())
+		if (m_object->isStaticObject() && !m_cci.m_bSensor)
 		{
 			m_object->setCollisionFlags(m_object->getCollisionFlags() | btCollisionObject::CF_KINEMATIC_OBJECT);
 		}
@@ -909,9 +919,19 @@ void		CcdPhysicsController::setPosition(float posX,float posY,float posZ)
 		// not required
 		//m_bulletMotionState->setWorldTransform(xform);
 	}
+}
 
-
+void CcdPhysicsController::forceWorldTransform(const btMatrix3x3& mat, const btVector3& pos)
+{
+	if (m_object)
+	{
+		btTransform& xform = m_object->getWorldTransform();
+		xform.setBasis(mat);
+		xform.setOrigin(pos);
+	}
 }
+
+
 void		CcdPhysicsController::resolveCombinedVelocities(float linvelX,float linvelY,float linvelZ,float angVelX,float angVelY,float angVelZ)
 {
 }
@@ -961,7 +981,9 @@ void		CcdPhysicsController::ApplyTorque(float torqueX,float torqueY,float torque
 		m_object->activate();
 		if (m_object->isStaticObject())
 		{
-			m_object->setCollisionFlags(m_object->getCollisionFlags() | btCollisionObject::CF_KINEMATIC_OBJECT);
+			if (!m_cci.m_bSensor)
+				m_object->setCollisionFlags(m_object->getCollisionFlags() | btCollisionObject::CF_KINEMATIC_OBJECT);
+			return;
 		}
 		if (local)
 		{
@@ -989,27 +1011,26 @@ void		CcdPhysicsController::ApplyForce(float forceX,float forceY,float forceZ,bo
 		m_object->activate();
 		if (m_object->isStaticObject())
 		{
-			m_object->setCollisionFlags(m_object->getCollisionFlags() | btCollisionObject::CF_KINEMATIC_OBJECT);
+			if (!m_cci.m_bSensor)
+				m_object->setCollisionFlags(m_object->getCollisionFlags() | btCollisionObject::CF_KINEMATIC_OBJECT);
+			return;
 		}
-
+		btTransform xform = m_object->getWorldTransform();
+		
+		if (local)
+		{	
+			force	= xform.getBasis()*force;
+		}
+		btRigidBody* body = GetRigidBody();
+		if (body)
+			body->applyCentralForce(force);
+		btSoftBody* soft = GetSoftBody();
+		if (soft)
 		{
-			btTransform xform = m_object->getWorldTransform();
-			
-			if (local)
-			{	
-				force	= xform.getBasis()*force;
-			}
-			btRigidBody* body = GetRigidBody();
-			if (body)
-				body->applyCentralForce(force);
-			btSoftBody* soft = GetSoftBody();
-			if (soft)
-			{
-				// the force is applied on each node, must reduce it in the same extend
-				if (soft->m_nodes.size() > 0)
-					force /= soft->m_nodes.size();
-				soft->addForce(force);
-			}
+			// the force is applied on each node, must reduce it in the same extend
+			if (soft->m_nodes.size() > 0)
+				force /= soft->m_nodes.size();
+			soft->addForce(force);
 		}
 	}
 }
@@ -1021,19 +1042,18 @@ void		CcdPhysicsController::SetAngularVelocity(float ang_velX,float ang_velY,flo
 		m_object->activate(true);
 		if (m_object->isStaticObject())
 		{
-			m_object->setCollisionFlags(m_object->getCollisionFlags() | btCollisionObject::CF_KINEMATIC_OBJECT);
-		} else
+			if (!m_cci.m_bSensor)
+				m_object->setCollisionFlags(m_object->getCollisionFlags() | btCollisionObject::CF_KINEMATIC_OBJECT);
+			return;
+		}
+		btTransform xform = m_object->getWorldTransform();
+		if (local)
 		{
-			btTransform xform = m_object->getWorldTransform();
-			if (local)
-			{
-				angvel	= xform.getBasis()*angvel;
-			}
-			btRigidBody* body = GetRigidBody();
-			if (body)
-				body->setAngularVelocity(angvel);
-
+			angvel	= xform.getBasis()*angvel;
 		}
+		btRigidBody* body = GetRigidBody();
+		if (body)
+			body->setAngularVelocity(angvel);
 	}
 
 }
@@ -1046,7 +1066,8 @@ void		CcdPhysicsController::SetLinearVelocity(float lin_velX,float lin_velY,floa
 		m_object->activate(true);
 		if (m_object->isStaticObject())
 		{
-			m_object->setCollisionFlags(m_object->getCollisionFlags() | btCollisionObject::CF_KINEMATIC_OBJECT);
+			if (!m_cci.m_bSensor)
+				m_object->setCollisionFlags(m_object->getCollisionFlags() | btCollisionObject::CF_KINEMATIC_OBJECT);
 			return;
 		}
 		
@@ -1080,7 +1101,9 @@ void		CcdPhysicsController::applyImpulse(float attachX,float attachY,float attac
 		m_object->activate();
 		if (m_object->isStaticObject())
 		{
-			m_object->setCollisionFlags(m_object->getCollisionFlags() | btCollisionObject::CF_KINEMATIC_OBJECT);
+			if (!m_cci.m_bSensor)
+				m_object->setCollisionFlags(m_object->getCollisionFlags() | btCollisionObject::CF_KINEMATIC_OBJECT);
+			return;
 		}
 		
 		btVector3 pos(attachX,attachY,attachZ);
@@ -1207,7 +1230,7 @@ PHY_IPhysicsController*	CcdPhysicsController::GetReplica()
 	if (m_shapeInfo)
 	{
 		// This situation does not normally happen
-		cinfo.m_collisionShape = m_shapeInfo->CreateBulletShape();
+		cinfo.m_collisionShape = m_shapeInfo->CreateBulletShape(0.01);
 	} 
 	else if (m_collisionShape)
 	{
@@ -1274,28 +1297,22 @@ void	DefaultMotionState::getWorldScaling(float& scaleX,float& scaleY,float& scal
 
 void	DefaultMotionState::getWorldOrientation(float& quatIma0,float& quatIma1,float& quatIma2,float& quatReal)
 {
-	quatIma0 = m_worldTransform.getRotation().x();
-	quatIma1 = m_worldTransform.getRotation().y();
-	quatIma2 = m_worldTransform.getRotation().z();
-	quatReal = m_worldTransform.getRotation()[3];
+	btQuaternion quat = m_worldTransform.getRotation();
+	quatIma0 = quat.x();
+	quatIma1 = quat.y();
+	quatIma2 = quat.z();
+	quatReal = quat[3];
 }
 		
 void	DefaultMotionState::getWorldOrientation(float* ori)
 {
-	*ori++ = m_worldTransform.getBasis()[0].x();
-	*ori++ = m_worldTransform.getBasis()[1].x();
-	*ori++ = m_worldTransform.getBasis()[1].x();
-	*ori++ = 0.f;
-	*ori++ = m_worldTransform.getBasis()[0].y();
-	*ori++ = m_worldTransform.getBasis()[1].y();
-	*ori++ = m_worldTransform.getBasis()[1].y();
-	*ori++ = 0.f;
-	*ori++ = m_worldTransform.getBasis()[0].z();
-	*ori++ = m_worldTransform.getBasis()[1].z();
-	*ori++ = m_worldTransform.getBasis()[1].z();
-	*ori++ = 0.f;
+	m_worldTransform.getBasis().getOpenGLSubMatrix(ori);
 }
 
+void	DefaultMotionState::setWorldOrientation(const float* ori)
+{
+	m_worldTransform.getBasis().setFromOpenGLSubMatrix(ori);
+}
 void	DefaultMotionState::setWorldPosition(float posX,float posY,float posZ)
 {
 	btVector3 pos(posX,posY,posZ);
@@ -1583,7 +1600,7 @@ bool CcdShapeConstructionInfo::SetProxy(CcdShapeConstructionInfo* shapeInfo)
 	return true;
 }
 
-btCollisionShape* CcdShapeConstructionInfo::CreateBulletShape()
+btCollisionShape* CcdShapeConstructionInfo::CreateBulletShape(btScalar margin)
 {
 	btCollisionShape* collisionShape = 0;
 	btTriangleMeshShape* concaveShape = 0;
@@ -1591,7 +1608,7 @@ btCollisionShape* CcdShapeConstructionInfo::CreateBulletShape()
 	CcdShapeConstructionInfo* nextShapeInfo;
 
 	if (m_shapeType == PHY_SHAPE_PROXY && m_shapeProxy != NULL)
-		return m_shapeProxy->CreateBulletShape();
+		return m_shapeProxy->CreateBulletShape(margin);
 
 	switch (m_shapeType) 
 	{
@@ -1600,22 +1617,27 @@ btCollisionShape* CcdShapeConstructionInfo::CreateBulletShape()
 
 	case PHY_SHAPE_BOX:
 		collisionShape = new btBoxShape(m_halfExtend);
+		collisionShape->setMargin(margin);
 		break;
 
 	case PHY_SHAPE_SPHERE:
 		collisionShape = new btSphereShape(m_radius);
+		collisionShape->setMargin(margin);
 		break;
 
 	case PHY_SHAPE_CYLINDER:
 		collisionShape = new btCylinderShapeZ(m_halfExtend);
+		collisionShape->setMargin(margin);
 		break;
 
 	case PHY_SHAPE_CONE:
 		collisionShape = new btConeShapeZ(m_radius, m_height);
+		collisionShape->setMargin(margin);
 		break;
 
 	case PHY_SHAPE_POLYTOPE:
 		collisionShape = new btConvexHullShape(&m_vertexArray[0], m_vertexArray.size()/3, 3*sizeof(btScalar));
+		collisionShape->setMargin(margin);
 		break;
 
 	case PHY_SHAPE_MESH:
@@ -1638,7 +1660,7 @@ btCollisionShape* CcdShapeConstructionInfo::CreateBulletShape()
 				);
 				
 				btGImpactMeshShape* gimpactShape =  new btGImpactMeshShape(indexVertexArrays);
-
+				gimpactShape->setMargin(margin);
 				collisionShape = gimpactShape;
 				gimpactShape->updateBound();
 
@@ -1683,6 +1705,7 @@ btCollisionShape* CcdShapeConstructionInfo::CreateBulletShape()
 				m_unscaledShape->recalcLocalAabb();
 			}
 			collisionShape = new btScaledBvhTriangleMeshShape(m_unscaledShape, btVector3(1.0f,1.0f,1.0f));
+			collisionShape->setMargin(margin);
 		}
 		break;
 
@@ -1694,7 +1717,7 @@ btCollisionShape* CcdShapeConstructionInfo::CreateBulletShape()
 				 sit != m_shapeArray.end();
 				 sit++)
 			{
-				collisionShape = (*sit)->CreateBulletShape();
+				collisionShape = (*sit)->CreateBulletShape(margin);
 				if (collisionShape)
 				{
 					collisionShape->setLocalScaling((*sit)->m_childScale);
diff --git a/source/gameengine/Physics/Bullet/CcdPhysicsController.h b/source/gameengine/Physics/Bullet/CcdPhysicsController.h
index 315e2bdf429..fc8de0e2ded 100644
--- a/source/gameengine/Physics/Bullet/CcdPhysicsController.h
+++ b/source/gameengine/Physics/Bullet/CcdPhysicsController.h
@@ -152,7 +152,7 @@ public:
 		return m_shapeProxy;
 	}
 
-	btCollisionShape* CreateBulletShape();
+	btCollisionShape* CreateBulletShape(btScalar margin);
 
 	// member variables
 	PHY_ShapeType			m_shapeType;
@@ -222,6 +222,7 @@ struct CcdConstructionInfo
 		m_collisionFlags(0),
 		m_bRigid(false),
 		m_bSoft(false),
+		m_bSensor(false),
 		m_collisionFilterGroup(DefaultFilter),
 		m_collisionFilterMask(AllFilter),
 		m_collisionShape(0),
@@ -288,6 +289,7 @@ struct CcdConstructionInfo
 	int			m_collisionFlags;
 	bool		m_bRigid;
 	bool		m_bSoft;
+	bool		m_bSensor;
 
 	///optional use of collision group/mask:
 	///only collision with object goups that match the collision mask.
@@ -326,7 +328,7 @@ class btSoftBody;
 ///CcdPhysicsController is a physics object that supports continuous collision detection and time of impact based physics resolution.
 class CcdPhysicsController : public PHY_IPhysicsController	
 {
-
+protected:
 	btCollisionObject* m_object;
 	
 
@@ -361,8 +363,8 @@ class CcdPhysicsController : public PHY_IPhysicsController
 		return (--m_registerCount == 0) ? true : false;
 	}
 
-	protected:
-		void setWorldOrientation(const btMatrix3x3& mat);
+	void setWorldOrientation(const btMatrix3x3& mat);
+	void forceWorldTransform(const btMatrix3x3& mat, const btVector3& pos);
 
 	public:
 	
@@ -407,6 +409,7 @@ class CcdPhysicsController : public PHY_IPhysicsController
 		
 		virtual void		WriteMotionStateToDynamics(bool nondynaonly);
 		virtual	void		WriteDynamicsToMotionState();
+
 		// controller replication
 		virtual	void		PostProcessReplica(class PHY_IMotionState* motionstate,class PHY_IPhysicsController* parentctrl);
 
@@ -505,7 +508,7 @@ class CcdPhysicsController : public PHY_IPhysicsController
 
 		void	SetCenterOfMassTransform(btTransform& xform);
 
-		static btTransform	GetTransformFromMotionState(PHY_IMotionState* motionState);
+		static btTransform&	GetTransformFromMotionState(PHY_IMotionState* motionState);
 
 		void	setAabb(const btVector3& aabbMin,const btVector3& aabbMax);
 
@@ -563,6 +566,7 @@ class	DefaultMotionState : public PHY_IMotionState
 		virtual void	setWorldPosition(float posX,float posY,float posZ);
 		virtual	void	setWorldOrientation(float quatIma0,float quatIma1,float quatIma2,float quatReal);
 		virtual void	getWorldOrientation(float* ori);
+		virtual void	setWorldOrientation(const float* ori);
 		
 		virtual	void	calculateWorldTransformations();
 		
diff --git a/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.cpp b/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.cpp
index 03c9d13a7dd..ed517e637dc 100644
--- a/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.cpp
+++ b/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.cpp
@@ -415,61 +415,7 @@ void	CcdPhysicsEnvironment::addCcdPhysicsController(CcdPhysicsController* ctrl)
 		obj->setActivationState(ISLAND_SLEEPING);
 	}
 
-
-	//CollisionObject(body,ctrl->GetCollisionFilterGroup(),ctrl->GetCollisionFilterMask());
-
 	assert(obj->getBroadphaseHandle());
-
-	btBroadphaseInterface* scene =  getBroadphase();
-
-
-	btCollisionShape* shapeinterface = ctrl->GetCollisionShape();
-
-	assert(shapeinterface);
-
-	const btTransform& t = ctrl->GetCollisionObject()->getWorldTransform();
-	
-
-	btVector3 minAabb,maxAabb;
-
-	shapeinterface->getAabb(t,minAabb,maxAabb);
-
-	float timeStep = 0.02f;
-
-
-	//extent it with the motion
-
-	if (body)
-	{
-		btVector3 linMotion = body->getLinearVelocity()*timeStep;
-
-		float maxAabbx = maxAabb.getX();
-		float maxAabby = maxAabb.getY();
-		float maxAabbz = maxAabb.getZ();
-		float minAabbx = minAabb.getX();
-		float minAabby = minAabb.getY();
-		float minAabbz = minAabb.getZ();
-
-		if (linMotion.x() > 0.f)
-			maxAabbx += linMotion.x(); 
-		else
-			minAabbx += linMotion.x();
-		if (linMotion.y() > 0.f)
-			maxAabby += linMotion.y(); 
-		else
-			minAabby += linMotion.y();
-		if (linMotion.z() > 0.f)
-			maxAabbz += linMotion.z(); 
-		else
-			minAabbz += linMotion.z();
-
-
-		minAabb = btVector3(minAabbx,minAabby,minAabbz);
-		maxAabb = btVector3(maxAabbx,maxAabby,maxAabbz);
-	}
-
-
-
 }
 
 		
@@ -1884,29 +1830,20 @@ void CcdPhysicsEnvironment::addSensor(PHY_IPhysicsController* ctrl)
 	//	addCcdPhysicsController(ctrl1);
 	//}
 	enableCcdPhysicsController(ctrl1);
-
-	//Collision filter/mask is now set at the time of the creation of the controller 
-	//force collision detection with everything, including static objects (might hurt performance!)
-	//ctrl1->GetRigidBody()->getBroadphaseHandle()->m_collisionFilterMask = btBroadphaseProxy::AllFilter ^ btBroadphaseProxy::SensorTrigger;
-	//ctrl1->GetRigidBody()->getBroadphaseHandle()->m_collisionFilterGroup = btBroadphaseProxy::SensorTrigger;
-	//todo: make this 'sensor'!
-
-	requestCollisionCallback(ctrl);
-	//printf("addSensor\n");
 }
 
-void CcdPhysicsEnvironment::removeCollisionCallback(PHY_IPhysicsController* ctrl)
+bool CcdPhysicsEnvironment::removeCollisionCallback(PHY_IPhysicsController* ctrl)
 {
 	CcdPhysicsController* ccdCtrl = (CcdPhysicsController*)ctrl;
-	if (ccdCtrl->Unregister())
-		m_triggerControllers.erase(ccdCtrl);
+	if (!ccdCtrl->Unregister())
+		return false;
+	m_triggerControllers.erase(ccdCtrl);
+	return true;
 }
 
 
 void CcdPhysicsEnvironment::removeSensor(PHY_IPhysicsController* ctrl)
 {
-	removeCollisionCallback(ctrl);
-
 	disableCcdPhysicsController((CcdPhysicsController*)ctrl);
 }
 
@@ -1942,12 +1879,14 @@ void CcdPhysicsEnvironment::addTouchCallback(int response_class, PHY_ResponseCal
 	m_triggerCallbacksUserPtrs[response_class] = user;
 
 }
-void CcdPhysicsEnvironment::requestCollisionCallback(PHY_IPhysicsController* ctrl)
+bool CcdPhysicsEnvironment::requestCollisionCallback(PHY_IPhysicsController* ctrl)
 {
 	CcdPhysicsController* ccdCtrl = static_cast<CcdPhysicsController*>(ctrl);
 
-	if (ccdCtrl->Register())
-		m_triggerControllers.insert(ccdCtrl);
+	if (!ccdCtrl->Register())
+		return false;
+	m_triggerControllers.insert(ccdCtrl);
+	return true;
 }
 
 void	CcdPhysicsEnvironment::CallbackTriggers()
@@ -2096,12 +2035,13 @@ PHY_IPhysicsController*	CcdPhysicsEnvironment::CreateSphereController(float radi
 	// declare this object as Dyamic rather then static!!
 	// The reason as it is designed to detect all type of object, including static object
 	// It would cause static-static message to be printed on the console otherwise
-	cinfo.m_collisionFlags |= btCollisionObject::CF_NO_CONTACT_RESPONSE/* | btCollisionObject::CF_KINEMATIC_OBJECT*/;
+	cinfo.m_collisionFlags |= btCollisionObject::CF_NO_CONTACT_RESPONSE | btCollisionObject::CF_STATIC_OBJECT;
 	DefaultMotionState* motionState = new DefaultMotionState();
 	cinfo.m_MotionState = motionState;
 	// we will add later the possibility to select the filter from option
 	cinfo.m_collisionFilterMask = CcdConstructionInfo::AllFilter ^ CcdConstructionInfo::SensorFilter;
 	cinfo.m_collisionFilterGroup = CcdConstructionInfo::SensorFilter;
+	cinfo.m_bSensor = true;
 	motionState->m_worldTransform.setIdentity();
 	motionState->m_worldTransform.setOrigin(btVector3(position[0],position[1],position[2]));
 
@@ -2555,13 +2495,14 @@ PHY_IPhysicsController* CcdPhysicsEnvironment::CreateConeController(float conera
 	cinfo.m_collisionShape = new btConeShape(coneradius,coneheight);
 	cinfo.m_MotionState = 0;
 	cinfo.m_physicsEnv = this;
-	cinfo.m_collisionFlags |= btCollisionObject::CF_NO_CONTACT_RESPONSE;
+	cinfo.m_collisionFlags |= btCollisionObject::CF_NO_CONTACT_RESPONSE | btCollisionObject::CF_STATIC_OBJECT;
 	DefaultMotionState* motionState = new DefaultMotionState();
 	cinfo.m_MotionState = motionState;
 	
 	// we will add later the possibility to select the filter from option
 	cinfo.m_collisionFilterMask = CcdConstructionInfo::AllFilter ^ CcdConstructionInfo::SensorFilter;
 	cinfo.m_collisionFilterGroup = CcdConstructionInfo::SensorFilter;
+	cinfo.m_bSensor = true;
 	motionState->m_worldTransform.setIdentity();
 //	motionState->m_worldTransform.setOrigin(btVector3(position[0],position[1],position[2]));
 
diff --git a/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.h b/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.h
index 5f9fb9511d6..4e39d531cd6 100644
--- a/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.h
+++ b/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.h
@@ -179,8 +179,8 @@ protected:
 		virtual void addSensor(PHY_IPhysicsController* ctrl);
 		virtual void removeSensor(PHY_IPhysicsController* ctrl);
 		virtual void addTouchCallback(int response_class, PHY_ResponseCallback callback, void *user);
-		virtual void requestCollisionCallback(PHY_IPhysicsController* ctrl);
-		virtual void removeCollisionCallback(PHY_IPhysicsController* ctrl);
+		virtual bool requestCollisionCallback(PHY_IPhysicsController* ctrl);
+		virtual bool removeCollisionCallback(PHY_IPhysicsController* ctrl);
 		//These two methods are used *solely* to create controllers for Near/Radar sensor! Don't use for anything else
 		virtual PHY_IPhysicsController*	CreateSphereController(float radius,const PHY__Vector3& position);
 		virtual PHY_IPhysicsController* CreateConeController(float coneradius,float coneheight);
diff --git a/source/gameengine/Physics/Dummy/DummyPhysicsEnvironment.h b/source/gameengine/Physics/Dummy/DummyPhysicsEnvironment.h
index 397a1ba4218..73e7e947355 100644
--- a/source/gameengine/Physics/Dummy/DummyPhysicsEnvironment.h
+++ b/source/gameengine/Physics/Dummy/DummyPhysicsEnvironment.h
@@ -79,8 +79,8 @@ public:
 		virtual void addTouchCallback(int response_class, PHY_ResponseCallback callback, void *user)
 		{
 		}
-		virtual void requestCollisionCallback(PHY_IPhysicsController* ctrl) {}
-		virtual void removeCollisionCallback(PHY_IPhysicsController* ctrl) {}
+		virtual bool requestCollisionCallback(PHY_IPhysicsController* ctrl) { return false; }
+		virtual bool removeCollisionCallback(PHY_IPhysicsController* ctrl) { return false;}
 		virtual PHY_IPhysicsController*	CreateSphereController(float radius,const PHY__Vector3& position) {return 0;}
 		virtual PHY_IPhysicsController* CreateConeController(float coneradius,float coneheight) { return 0;}
 
diff --git a/source/gameengine/Physics/Sumo/SumoPhysicsController.cpp b/source/gameengine/Physics/Sumo/SumoPhysicsController.cpp
index 3451e6c3ec8..56caa9236bf 100644
--- a/source/gameengine/Physics/Sumo/SumoPhysicsController.cpp
+++ b/source/gameengine/Physics/Sumo/SumoPhysicsController.cpp
@@ -390,6 +390,11 @@ void		SumoPhysicsController::PostProcessReplica(class PHY_IMotionState* motionst
 	m_sumoScene->add(* (m_sumoObj));
 }
 
+PHY_IMotionState* SumoPhysicsController::GetMotionState()
+{
+	return m_MotionState;
+}
+
 void			SumoPhysicsController::SetSimulatedTime(float)
 {
 }
diff --git a/source/gameengine/Physics/Sumo/SumoPhysicsController.h b/source/gameengine/Physics/Sumo/SumoPhysicsController.h
index 415bc1e3982..adf29649f18 100644
--- a/source/gameengine/Physics/Sumo/SumoPhysicsController.h
+++ b/source/gameengine/Physics/Sumo/SumoPhysicsController.h
@@ -110,6 +110,7 @@ public:
 	
 	virtual	void		WriteDynamicsToMotionState() {};
 	virtual void	WriteMotionStateToDynamics(bool nondynaonly);
+	virtual class PHY_IMotionState* GetMotionState();
 
 	/** 
 	 *	call from Scene Graph Node to 'update'.
diff --git a/source/gameengine/Physics/Sumo/SumoPhysicsEnvironment.cpp b/source/gameengine/Physics/Sumo/SumoPhysicsEnvironment.cpp
index cc6d5654ec9..b4daf0a3f80 100644
--- a/source/gameengine/Physics/Sumo/SumoPhysicsEnvironment.cpp
+++ b/source/gameengine/Physics/Sumo/SumoPhysicsEnvironment.cpp
@@ -213,7 +213,7 @@ void SumoPhysicsEnvironment::addTouchCallback(int response_class, PHY_ResponseCa
 
 	m_sumoScene->addTouchCallback(sumoRespClass,SumoPHYCallbackBridge::StaticSolidToPHYCallback,bridge);
 }
-void SumoPhysicsEnvironment::requestCollisionCallback(PHY_IPhysicsController* ctrl)
+bool SumoPhysicsEnvironment::requestCollisionCallback(PHY_IPhysicsController* ctrl)
 {
 	SumoPhysicsController* smctrl = dynamic_cast<SumoPhysicsController*>(ctrl);
 	MT_assert(smctrl);
@@ -225,12 +225,15 @@ void SumoPhysicsEnvironment::requestCollisionCallback(PHY_IPhysicsController* ct
 		smObject->setPhysicsClientObject(ctrl);
 	
 		m_sumoScene->requestCollisionCallback(*smObject);
+		return true;
 	}
+	return false;
 }
 
-void SumoPhysicsEnvironment::removeCollisionCallback(PHY_IPhysicsController* ctrl)
+bool SumoPhysicsEnvironment::removeCollisionCallback(PHY_IPhysicsController* ctrl)
 {
 	// intentionally empty
+	return false;
 }
 
 PHY_IPhysicsController*	SumoPhysicsEnvironment::CreateSphereController(float radius,const PHY__Vector3& position)
diff --git a/source/gameengine/Physics/Sumo/SumoPhysicsEnvironment.h b/source/gameengine/Physics/Sumo/SumoPhysicsEnvironment.h
index c2b443a2b38..4c9d59e3673 100644
--- a/source/gameengine/Physics/Sumo/SumoPhysicsEnvironment.h
+++ b/source/gameengine/Physics/Sumo/SumoPhysicsEnvironment.h
@@ -83,8 +83,8 @@ public:
 	virtual void addSensor(PHY_IPhysicsController* ctrl);
 	virtual void removeSensor(PHY_IPhysicsController* ctrl);
 	virtual void addTouchCallback(int response_class, PHY_ResponseCallback callback, void *user);
-	virtual void requestCollisionCallback(PHY_IPhysicsController* ctrl);
-	virtual void removeCollisionCallback(PHY_IPhysicsController* ctrl);
+	virtual bool requestCollisionCallback(PHY_IPhysicsController* ctrl);
+	virtual bool removeCollisionCallback(PHY_IPhysicsController* ctrl);
 	virtual PHY_IPhysicsController*	CreateSphereController(float radius,const PHY__Vector3& position);
 	virtual PHY_IPhysicsController* CreateConeController(float coneradius,float coneheight);
 
diff --git a/source/gameengine/Physics/common/PHY_IMotionState.h b/source/gameengine/Physics/common/PHY_IMotionState.h
index 64bb810ee7c..f7bcbd4f2d0 100644
--- a/source/gameengine/Physics/common/PHY_IMotionState.h
+++ b/source/gameengine/Physics/common/PHY_IMotionState.h
@@ -45,10 +45,12 @@ class	PHY_IMotionState
 		virtual void	getWorldOrientation(float& quatIma0,float& quatIma1,float& quatIma2,float& quatReal)=0;
 		// ori = array 12 floats, [0..3] = first column + 0, [4..7] = second colum, [8..11] = third column
 		virtual void	getWorldOrientation(float* ori)=0;
+		virtual	void	setWorldOrientation(const float* ori)=0;
 		
 		virtual void	setWorldPosition(float posX,float posY,float posZ)=0;
 		virtual	void	setWorldOrientation(float quatIma0,float quatIma1,float quatIma2,float quatReal)=0;
 
+
 		virtual	void	calculateWorldTransformations()=0;
 };
 
diff --git a/source/gameengine/Physics/common/PHY_IPhysicsController.h b/source/gameengine/Physics/common/PHY_IPhysicsController.h
index 770426b48db..d7b8cb0b54f 100644
--- a/source/gameengine/Physics/common/PHY_IPhysicsController.h
+++ b/source/gameengine/Physics/common/PHY_IPhysicsController.h
@@ -31,7 +31,7 @@
 
 #include "PHY_IController.h"
 
-
+class PHY_IMotionState;
 
 /**
 	PHY_IPhysicsController is the abstract simplified Interface to a physical object.
@@ -53,6 +53,7 @@ class PHY_IPhysicsController : public PHY_IController
 		
 		virtual void		WriteMotionStateToDynamics(bool nondynaonly)=0;
 		virtual	void		WriteDynamicsToMotionState()=0;
+		virtual class PHY_IMotionState* GetMotionState() = 0;
 		// controller replication
 		virtual	void		PostProcessReplica(class PHY_IMotionState* motionstate,class PHY_IPhysicsController* parentctrl)=0;
 
diff --git a/source/gameengine/Physics/common/PHY_IPhysicsEnvironment.h b/source/gameengine/Physics/common/PHY_IPhysicsEnvironment.h
index a3605669f70..1939083ef5f 100644
--- a/source/gameengine/Physics/common/PHY_IPhysicsEnvironment.h
+++ b/source/gameengine/Physics/common/PHY_IPhysicsEnvironment.h
@@ -152,8 +152,8 @@ class PHY_IPhysicsEnvironment
 		virtual void addSensor(PHY_IPhysicsController* ctrl)=0;
 		virtual void removeSensor(PHY_IPhysicsController* ctrl)=0;
 		virtual void addTouchCallback(int response_class, PHY_ResponseCallback callback, void *user)=0;
-		virtual void requestCollisionCallback(PHY_IPhysicsController* ctrl)=0;
-		virtual void removeCollisionCallback(PHY_IPhysicsController* ctrl)=0;
+		virtual bool requestCollisionCallback(PHY_IPhysicsController* ctrl)=0;
+		virtual bool removeCollisionCallback(PHY_IPhysicsController* ctrl)=0;
 		//These two methods are *solely* used to create controllers for sensor! Don't use for anything else
 		virtual PHY_IPhysicsController*	CreateSphereController(float radius,const PHY__Vector3& position) =0;
 		virtual PHY_IPhysicsController* CreateConeController(float coneradius,float coneheight)=0;
-- 
cgit v1.2.3


From 2ac81cc7ad83135b00e2e44103f69515a751bafd Mon Sep 17 00:00:00 2001
From: Benoit Bolsee <benoit.bolsee@online.be>
Date: Mon, 18 May 2009 21:32:03 +0000
Subject: BGE soft body: give access to the soft body collision margin in the
 Advanced panel. By default the collision margin is set to 0.25, which causes
 the soft body to somewhat float above the ground. You can decrease this value
 to get more realistic collision. Note that the algorithm may become unstable
 with lower margin.

---
 source/gameengine/Physics/Bullet/CcdPhysicsController.cpp | 6 +++++-
 1 file changed, 5 insertions(+), 1 deletion(-)

(limited to 'source/gameengine/Physics')

diff --git a/source/gameengine/Physics/Bullet/CcdPhysicsController.cpp b/source/gameengine/Physics/Bullet/CcdPhysicsController.cpp
index 7302c47f4bf..6b00011b693 100644
--- a/source/gameengine/Physics/Bullet/CcdPhysicsController.cpp
+++ b/source/gameengine/Physics/Bullet/CcdPhysicsController.cpp
@@ -296,7 +296,11 @@ void CcdPhysicsController::CreateRigidbody()
 			}
 
 		}
-
+		if (m_cci.m_margin > 0.f)
+		{
+			psb->getCollisionShape()->setMargin(m_cci.m_margin);
+			psb->updateBounds();
+		}
 	
 		
 		m_object = psb;
-- 
cgit v1.2.3


From eb8c5f3272b87fffaf017badf55f761de9a04fd1 Mon Sep 17 00:00:00 2001
From: Erwin Coumans <blender@erwincoumans.com>
Date: Sat, 23 May 2009 22:35:47 +0000
Subject: Set default constraint solver mode more compatible to Blender 2.48
 settings, this fixes rigid body stacking in this blend file:
 http://blenderartists.org/forum/showpost.php?p=1382653&postcount=102

(todo: expose this setting in World setting GUI)

Expose contact processing threshold in Advanced GUI, next to rigid body margin, called CPT.
Default to 1, makes rigid body stacking a bit more stable, smaller values makes sliding easier (at the cost of easier jittering).
Disabled for 'dynamic' objects that don't rotate, because characters etc. always need smooth sliding.
---
 source/gameengine/Physics/Bullet/CcdPhysicsController.cpp |  2 ++
 source/gameengine/Physics/Bullet/CcdPhysicsController.h   | 10 +++++++++-
 2 files changed, 11 insertions(+), 1 deletion(-)

(limited to 'source/gameengine/Physics')

diff --git a/source/gameengine/Physics/Bullet/CcdPhysicsController.cpp b/source/gameengine/Physics/Bullet/CcdPhysicsController.cpp
index 6b00011b693..710d0656f6d 100644
--- a/source/gameengine/Physics/Bullet/CcdPhysicsController.cpp
+++ b/source/gameengine/Physics/Bullet/CcdPhysicsController.cpp
@@ -519,6 +519,8 @@ void CcdPhysicsController::CreateRigidbody()
 		{
 			body->setAngularFactor(0.f);
 		}
+		body->setContactProcessingThreshold(m_cci.m_contactProcessingThreshold);
+
 	}
 	if (m_object && m_cci.m_do_anisotropic)
 	{
diff --git a/source/gameengine/Physics/Bullet/CcdPhysicsController.h b/source/gameengine/Physics/Bullet/CcdPhysicsController.h
index fc8de0e2ded..d73759bac76 100644
--- a/source/gameengine/Physics/Bullet/CcdPhysicsController.h
+++ b/source/gameengine/Physics/Bullet/CcdPhysicsController.h
@@ -231,7 +231,8 @@ struct CcdConstructionInfo
 		m_physicsEnv(0),
 		m_inertiaFactor(1.f),
 		m_do_anisotropic(false),
-		m_anisotropicFriction(1.f,1.f,1.f)
+		m_anisotropicFriction(1.f,1.f,1.f),
+		m_contactProcessingThreshold(1e10)
 	{
 	}
 
@@ -317,6 +318,13 @@ struct CcdConstructionInfo
 	btScalar	m_fh_distance;           ///< The range above the surface where Fh is active.    
 	bool		m_fh_normal;             ///< Should the object slide off slopes?
 	float		m_radius;//for fh backwards compatibility
+	
+	///m_contactProcessingThreshold allows to process contact points with positive distance
+	///normally only contacts with negative distance (penetration) are solved
+	///however, rigid body stacking is more stable when positive contacts are still passed into the constraint solver
+	///this might sometimes lead to collisions with 'internal edges' such as a sliding character controller
+	///so disable/set m_contactProcessingThreshold to zero for sliding characters etc.
+	float		m_contactProcessingThreshold;///< Process contacts with positive distance in range [0..INF]
 
 };
 
-- 
cgit v1.2.3


From 52b0a2b3dbf5c5e0b930dcaff8647ec1d06e2d3c Mon Sep 17 00:00:00 2001
From: Erwin Coumans <blender@erwincoumans.com>
Date: Sun, 24 May 2009 01:55:24 +0000
Subject: PhysicsConstraints.createConstraint: allow to dynamically create
 rigid body constraints while disable collision detection between connected
 bodies, pass as 10th argument the flag 128

PhysiPython KX_ConstraintWrapper, setParam
export setParam(paramIndex,paramValue0,paramValue1) for Physics constraints
paramIndex 0,1,2 are linear limits, 3,4,5 are angular limits, 6,7,8 are linear motors, 9,10,11 are angular motors

For example:
disableConnectedBodies=128
cons = PhysicsConstraints.createConstraint(oid,rid,generic6dof,pivotInAx,pivotInAy,pivotInAz,angleX,angleY,angleZ,disableConnectedBodies)
#params 0,1,2 are linear limits, low,high value. if low > high then disable limit
cons.setParam(0,0,0)

I will provide an example .blend for Blender 2.49
---
 .../Physics/Bullet/CcdPhysicsEnvironment.cpp       | 47 ++++++++++++++++++++--
 1 file changed, 44 insertions(+), 3 deletions(-)

(limited to 'source/gameengine/Physics')

diff --git a/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.cpp b/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.cpp
index ed517e637dc..561c370854f 100644
--- a/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.cpp
+++ b/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.cpp
@@ -426,6 +426,13 @@ void	CcdPhysicsEnvironment::removeCcdPhysicsController(CcdPhysicsController* ctr
 	btRigidBody* body = ctrl->GetRigidBody();
 	if (body)
 	{
+		for (int i=body->getNumConstraintRefs()-1;i>=0;i--)
+		{
+			btTypedConstraint* con = body->getConstraintRef(i);
+			m_dynamicsWorld->removeConstraint(con);
+			body->removeConstraintRef(con);
+			//delete con; //might be kept by python KX_ConstraintWrapper
+		}
 		m_dynamicsWorld->removeRigidBody(ctrl->GetRigidBody());
 	} else
 	{
@@ -1791,9 +1798,43 @@ void	CcdPhysicsEnvironment::setConstraintParam(int constraintId,int param,float
 	{
 	case PHY_GENERIC_6DOF_CONSTRAINT:
 		{
-			//param = 1..12, min0,max0,min1,max1...min6,max6
-			btGeneric6DofConstraint* genCons = (btGeneric6DofConstraint*)typedConstraint;
-			genCons->setLimit(param,value0,value1);
+			
+			switch (param)
+			{
+			case 0:	case 1: case 2: case 3: case 4: case 5:
+				{
+					//param = 0..5 are constraint limits, with low/high limit value
+					btGeneric6DofConstraint* genCons = (btGeneric6DofConstraint*)typedConstraint;
+					genCons->setLimit(param,value0,value1);
+					break;
+				}
+			case 6: case 7: case 8:
+				{
+					//param = 6,7,8 are translational motors, with value0=target velocity, value1 = max motor force
+					btGeneric6DofConstraint* genCons = (btGeneric6DofConstraint*)typedConstraint;
+					int transMotorIndex = param-6;
+					btTranslationalLimitMotor* transMotor = genCons->getTranslationalLimitMotor();
+					transMotor->m_targetVelocity[transMotorIndex]= value0;
+					transMotor->m_maxMotorForce[transMotorIndex]=value1;
+					transMotor->m_enableMotor[transMotorIndex] = (value1>0.f);
+					break;
+				}
+			case 9: case 10: case 11:
+				{
+					//param = 9,10,11 are rotational motors, with value0=target velocity, value1 = max motor force
+					btGeneric6DofConstraint* genCons = (btGeneric6DofConstraint*)typedConstraint;
+					int angMotorIndex = param-9;
+					btRotationalLimitMotor* rotMotor = genCons->getRotationalLimitMotor(angMotorIndex);
+					rotMotor->m_enableMotor = (value1 > 0.f);
+					rotMotor->m_targetVelocity = value0;
+					rotMotor->m_maxMotorForce = value1;
+					break;
+				}
+
+			default:
+				{
+				}
+			}
 			break;
 		};
 	default:
-- 
cgit v1.2.3


From 83bb096f24cb2252f90a77923bd1818930a2fed2 Mon Sep 17 00:00:00 2001
From: Erwin Coumans <blender@erwincoumans.com>
Date: Sun, 24 May 2009 06:31:47 +0000
Subject: + renamed pad3 to m_contactProcessingThreshold (thanks Campbell
 Barton/ideasman for confirming it is ok to rename it) + fixed Python method,
 PyArg_ParseTuple already checks for errors, no returning of NULL, thanks
 Campbell too) + added linear/angular spring for each of the 6DOFs of a
 generic 6dof constraint.  This makes the generic 6dof constraint very
 versatile.

---
 .../Physics/Bullet/CcdPhysicsEnvironment.cpp       | 28 +++++++++++++++++++---
 1 file changed, 25 insertions(+), 3 deletions(-)

(limited to 'source/gameengine/Physics')

diff --git a/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.cpp b/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.cpp
index 561c370854f..58720c8cc30 100644
--- a/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.cpp
+++ b/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.cpp
@@ -922,7 +922,7 @@ int			CcdPhysicsEnvironment::createUniversalD6Constraint(
 		
 
 		bool useReferenceFrameA = true;
-		genericConstraint = new btGeneric6DofConstraint(
+		genericConstraint = new btGeneric6DofSpringConstraint(
 			*rb0,*rb1,
 			frameInA,frameInB,useReferenceFrameA);
 		genericConstraint->setLinearLowerLimit(linearMinLimits);
@@ -1831,6 +1831,28 @@ void	CcdPhysicsEnvironment::setConstraintParam(int constraintId,int param,float
 					break;
 				}
 
+			case 12: case 13: case 14: case 15: case 16: case 17:
+			{
+				//param 13-17 are for motorized springs on each of the degrees of freedom
+					btGeneric6DofSpringConstraint* genCons = (btGeneric6DofSpringConstraint*)typedConstraint;
+					int springIndex = param-12;
+					if (value0!=0.f)
+					{
+						bool springEnabled = true;
+						genCons->setStiffness(springIndex,value0);
+						genCons->enableSpring(springIndex,springEnabled);
+						if (value1>0.5f)
+						{
+							genCons->setEquilibriumPoint(springIndex);
+						}
+					} else
+					{
+						bool springEnabled = false;
+						genCons->enableSpring(springIndex,springEnabled);
+					}
+					break;
+			}
+
 			default:
 				{
 				}
@@ -2351,7 +2373,7 @@ int			CcdPhysicsEnvironment::createConstraint(class PHY_IPhysicsController* ctrl
 				frameInB = inv  * globalFrameA;
 				bool useReferenceFrameA = true;
 
-				genericConstraint = new btGeneric6DofConstraint(
+				genericConstraint = new btGeneric6DofSpringConstraint(
 					*rb0,*rb1,
 					frameInA,frameInB,useReferenceFrameA);
 
@@ -2375,7 +2397,7 @@ int			CcdPhysicsEnvironment::createConstraint(class PHY_IPhysicsController* ctrl
 				frameInB = rb0->getCenterOfMassTransform() * frameInA;
 
 				bool useReferenceFrameA = true;
-				genericConstraint = new btGeneric6DofConstraint(
+				genericConstraint = new btGeneric6DofSpringConstraint(
 					*rb0,s_fixedObject2,
 					frameInA,frameInB,useReferenceFrameA);
 			}
-- 
cgit v1.2.3


From fe85bdd0401e92e82e39461d023bad34fe056c38 Mon Sep 17 00:00:00 2001
From: Campbell Barton <ideasman42@gmail.com>
Date: Sun, 24 May 2009 23:43:10 +0000
Subject: - BGE Py API, any py function/attribute that took a KX_GameObject
 would not accept a KX_Light or KX_Camera (bad oversight on my part) - Typo in
 occlusion variable init "m_buffer == NULL;" -> "m_buffer = NULL;"

CcdPhysicsEnvironment.cpp and CcdPhysicsController.cpp had too many warnings, fixed most of them.
---
 .../gameengine/Physics/Bullet/CcdPhysicsController.cpp   | 16 ++++++----------
 .../gameengine/Physics/Bullet/CcdPhysicsEnvironment.cpp  | 16 ++++------------
 2 files changed, 10 insertions(+), 22 deletions(-)

(limited to 'source/gameengine/Physics')

diff --git a/source/gameengine/Physics/Bullet/CcdPhysicsController.cpp b/source/gameengine/Physics/Bullet/CcdPhysicsController.cpp
index 710d0656f6d..9a5f9644a47 100644
--- a/source/gameengine/Physics/Bullet/CcdPhysicsController.cpp
+++ b/source/gameengine/Physics/Bullet/CcdPhysicsController.cpp
@@ -185,12 +185,12 @@ void CcdPhysicsController::CreateRigidbody()
 		rbci.m_restitution = m_cci.m_restitution;
 
 		
-		int nodecount = 0;
+
+		
 		
-		int numtriangles = 1;
 		
 		btVector3 p(0,0,0);// = getOrigin();
-		btScalar h = 1.f;
+
 		
 		btSoftRigidDynamicsWorld* softDynaWorld = (btSoftRigidDynamicsWorld*)m_cci.m_physicsEnv->getDynamicsWorld();
 
@@ -794,7 +794,7 @@ void		CcdPhysicsController::RelativeTranslate(float dlocX,float dlocY,float dloc
 			m_object->setCollisionFlags(m_object->getCollisionFlags() | btCollisionObject::CF_KINEMATIC_OBJECT);
 		}
 
-		btRigidBody* body = GetRigidBody();
+		// btRigidBody* body = GetRigidBody(); // not used anymore
 
 		btVector3 dloc(dlocX,dlocY,dlocZ);
 		btTransform xform = m_object->getWorldTransform();
@@ -1388,8 +1388,6 @@ bool CcdShapeConstructionInfo::SetMesh(RAS_MeshObject* meshobj, DerivedMesh* dm,
 	/* Convert blender geometry into bullet mesh, need these vars for mapping */
 	vector<bool> vert_tag_array(numverts, false);
 	unsigned int tot_bt_verts= 0;
-	unsigned int orig_index;
-	int i;
 
 	if (polytope)
 	{
@@ -1609,9 +1607,7 @@ bool CcdShapeConstructionInfo::SetProxy(CcdShapeConstructionInfo* shapeInfo)
 btCollisionShape* CcdShapeConstructionInfo::CreateBulletShape(btScalar margin)
 {
 	btCollisionShape* collisionShape = 0;
-	btTriangleMeshShape* concaveShape = 0;
-	btCompoundShape* compoundShape = 0;
-	CcdShapeConstructionInfo* nextShapeInfo;
+	btCompoundShape* compoundShape = 0;	
 
 	if (m_shapeType == PHY_SHAPE_PROXY && m_shapeProxy != NULL)
 		return m_shapeProxy->CreateBulletShape(margin);
@@ -1684,7 +1680,7 @@ btCollisionShape* CcdShapeConstructionInfo::CreateBulletShape(btScalar margin)
 					collisionMeshData->m_weldingThreshold = m_weldingThreshold1;
 					bool removeDuplicateVertices=true;
 					// m_vertexArray not in multiple of 3 anymore, use m_triFaceArray
-					for(int i=0; i<m_triFaceArray.size(); i+=3) {
+					for(unsigned int i=0; i<m_triFaceArray.size(); i+=3) {
 						btScalar *bt = &m_vertexArray[3*m_triFaceArray[i]];
 						btVector3 v1(bt[0], bt[1], bt[2]);
 						bt = &m_vertexArray[3*m_triFaceArray[i+1]];
diff --git a/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.cpp b/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.cpp
index 58720c8cc30..2dc7bffe618 100644
--- a/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.cpp
+++ b/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.cpp
@@ -1003,7 +1003,7 @@ struct	FilterClosestRayResultCallback : public btCollisionWorld::ClosestRayResul
 
 	virtual	btScalar addSingleResult(btCollisionWorld::LocalRayResult& rayResult,bool normalInWorldSpace)
 	{
-		CcdPhysicsController* curHit = static_cast<CcdPhysicsController*>(rayResult.m_collisionObject->getUserPointer());
+		//CcdPhysicsController* curHit = static_cast<CcdPhysicsController*>(rayResult.m_collisionObject->getUserPointer());
 		// save shape information as ClosestRayResultCallback::AddSingleResult() does not do it
 		if (rayResult.m_localShapeInfo)
 		{
@@ -1021,10 +1021,6 @@ struct	FilterClosestRayResultCallback : public btCollisionWorld::ClosestRayResul
 
 PHY_IPhysicsController* CcdPhysicsEnvironment::rayTest(PHY_IRayCastFilterCallback &filterCallback, float fromX,float fromY,float fromZ, float toX,float toY,float toZ)
 {
-
-
-	float minFraction = 1.f;
-
 	btVector3 rayFrom(fromX,fromY,fromZ);
 	btVector3 rayTo(toX,toY,toZ);
 
@@ -1174,7 +1170,7 @@ struct OcclusionBuffer
 	{
 		m_initialized=false;
 		m_occlusion = false;
-		m_buffer == NULL;
+		m_buffer = NULL;
 		m_bufferSize = 0;
 	}
 	// multiplication of column major matrices: m=m1*m2
@@ -1282,8 +1278,7 @@ struct OcclusionBuffer
 	static bool	project(btVector4* p,int n)
 	{
 		for(int i=0;i<n;++i)
-		{
-			const btScalar iw=1/p[i][3];
+		{			
 			p[i][2]=1/p[i][3];
 			p[i][0]*=p[i][2];
 			p[i][1]*=p[i][2];
@@ -1601,7 +1596,7 @@ struct OcclusionBuffer
 									6,5,1,2,
 									7,6,2,3,
 									5,4,0,1};
-		for(int i=0;i<(sizeof(d)/sizeof(d[0]));)
+		for(unsigned int i=0;i<(sizeof(d)/sizeof(d[0]));)
 		{
 			const btVector4	p[]={	x[d[i++]],
 									x[d[i++]],
@@ -1954,9 +1949,6 @@ bool CcdPhysicsEnvironment::requestCollisionCallback(PHY_IPhysicsController* ctr
 
 void	CcdPhysicsEnvironment::CallbackTriggers()
 {
-	
-	CcdPhysicsController* ctrl0=0,*ctrl1=0;
-
 	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
-- 
cgit v1.2.3


From 191e22dd62ee53fa8f6410d384116278c36e00b5 Mon Sep 17 00:00:00 2001
From: Benoit Bolsee <benoit.bolsee@online.be>
Date: Tue, 26 May 2009 21:32:19 +0000
Subject: BGE: fix a bug with kinematic object not giving the correct friction
 to dynamic object when they have a translation and rotation movement at the
 same time (translation is ignored). Performance: avoid unnecessary
 synchronization for static object.

---
 .../Physics/Bullet/CcdPhysicsController.cpp        | 35 ++++++++++++++--------
 1 file changed, 23 insertions(+), 12 deletions(-)

(limited to 'source/gameengine/Physics')

diff --git a/source/gameengine/Physics/Bullet/CcdPhysicsController.cpp b/source/gameengine/Physics/Bullet/CcdPhysicsController.cpp
index 9a5f9644a47..6b904364fbe 100644
--- a/source/gameengine/Physics/Bullet/CcdPhysicsController.cpp
+++ b/source/gameengine/Physics/Bullet/CcdPhysicsController.cpp
@@ -789,9 +789,12 @@ void		CcdPhysicsController::RelativeTranslate(float dlocX,float dlocY,float dloc
 	if (m_object)
 	{
 		m_object->activate(true);
-		if (m_object->isStaticObject() && !m_cci.m_bSensor)
+		if (m_object->isStaticObject())
 		{
-			m_object->setCollisionFlags(m_object->getCollisionFlags() | btCollisionObject::CF_KINEMATIC_OBJECT);
+			if (!m_cci.m_bSensor)
+				m_object->setCollisionFlags(m_object->getCollisionFlags() | btCollisionObject::CF_KINEMATIC_OBJECT);
+			// kinematic object should not set the transform, it disturbs the velocity interpolation
+			return;
 		}
 
 		// btRigidBody* body = GetRigidBody(); // not used anymore
@@ -815,9 +818,12 @@ void		CcdPhysicsController::RelativeRotate(const float rotval[9],bool local)
 	if (m_object)
 	{
 		m_object->activate(true);
-		if (m_object->isStaticObject() && !m_cci.m_bSensor)
+		if (m_object->isStaticObject())
 		{
-			m_object->setCollisionFlags(m_object->getCollisionFlags() | btCollisionObject::CF_KINEMATIC_OBJECT);
+			if (!m_cci.m_bSensor)
+				m_object->setCollisionFlags(m_object->getCollisionFlags() | btCollisionObject::CF_KINEMATIC_OBJECT);
+			// kinematic object should not set the transform, it disturbs the velocity interpolation
+			return;
 		}
 
 		btMatrix3x3 drotmat(	rotval[0],rotval[4],rotval[8],
@@ -840,10 +846,9 @@ void		CcdPhysicsController::RelativeRotate(const float rotval[9],bool local)
 
 void CcdPhysicsController::GetWorldOrientation(btMatrix3x3& mat)
 {
-	float orn[4];
-	m_MotionState->getWorldOrientation(orn[0],orn[1],orn[2],orn[3]);
-	btQuaternion quat(orn[0],orn[1],orn[2],orn[3]);
-	mat.setRotation(quat);
+	float ori[12];
+	m_MotionState->getWorldOrientation(ori);
+	mat.setFromOpenGLSubMatrix(ori);
 }
 
 void		CcdPhysicsController::getOrientation(float &quatImag0,float &quatImag1,float &quatImag2,float &quatReal)
@@ -859,9 +864,12 @@ void		CcdPhysicsController::setOrientation(float quatImag0,float quatImag1,float
 	if (m_object)
 	{
 		m_object->activate(true);
-		if (m_object->isStaticObject() && !m_cci.m_bSensor)
+		if (m_object->isStaticObject())
 		{
-			m_object->setCollisionFlags(m_object->getCollisionFlags() | btCollisionObject::CF_KINEMATIC_OBJECT);
+			if (!m_cci.m_bSensor)
+				m_object->setCollisionFlags(m_object->getCollisionFlags() | btCollisionObject::CF_KINEMATIC_OBJECT);
+			// kinematic object should not set the transform, it disturbs the velocity interpolation
+			return;
 		}
 		// not required
 		//m_MotionState->setWorldOrientation(quatImag0,quatImag1,quatImag2,quatReal);
@@ -911,9 +919,12 @@ void		CcdPhysicsController::setPosition(float posX,float posY,float posZ)
 	if (m_object)
 	{
 		m_object->activate(true);
-		if (m_object->isStaticObject() && !m_cci.m_bSensor)
+		if (m_object->isStaticObject())
 		{
-			m_object->setCollisionFlags(m_object->getCollisionFlags() | btCollisionObject::CF_KINEMATIC_OBJECT);
+			if (!m_cci.m_bSensor)
+				m_object->setCollisionFlags(m_object->getCollisionFlags() | btCollisionObject::CF_KINEMATIC_OBJECT);
+			// kinematic object should not set the transform, it disturbs the velocity interpolation
+			return;
 		}
 		// not required, this function is only used to update the physic controller
 		//m_MotionState->setWorldPosition(posX,posY,posZ);
-- 
cgit v1.2.3


From 6ac072e1bd05d41ae0c713b9ab0c5b83477c2919 Mon Sep 17 00:00:00 2001
From: Benoit Bolsee <benoit.bolsee@online.be>
Date: Thu, 28 May 2009 11:04:45 +0000
Subject: BGE: no sleeping and lock axis physics options were not propagated to
 replicas.

---
 source/gameengine/Physics/Bullet/CcdPhysicsController.cpp | 12 ++++++++++--
 1 file changed, 10 insertions(+), 2 deletions(-)

(limited to 'source/gameengine/Physics')

diff --git a/source/gameengine/Physics/Bullet/CcdPhysicsController.cpp b/source/gameengine/Physics/Bullet/CcdPhysicsController.cpp
index 6b904364fbe..3a3c817698b 100644
--- a/source/gameengine/Physics/Bullet/CcdPhysicsController.cpp
+++ b/source/gameengine/Physics/Bullet/CcdPhysicsController.cpp
@@ -700,17 +700,25 @@ void		CcdPhysicsController::PostProcessReplica(class PHY_IMotionState* motionsta
 		}
 	}
 
+	// load some characterists that are not 
+	btRigidBody* oldbody = GetRigidBody();
 	m_object = 0;
 	CreateRigidbody();
-
 	btRigidBody* body = GetRigidBody();
-
 	if (body)
 	{
 		if (m_cci.m_mass)
 		{
 			body->setMassProps(m_cci.m_mass, m_cci.m_localInertiaTensor * m_cci.m_inertiaFactor);
 		}
+
+		if (oldbody)
+		{
+			body->setLinearFactor(oldbody->getLinearFactor());
+			body->setAngularFactor(oldbody->getAngularFactor());
+			if (oldbody->getActivationState() == DISABLE_DEACTIVATION)
+				body->setActivationState(DISABLE_DEACTIVATION);
+		}
 	}	
 	// sensor object are added when needed
 	if (!m_cci.m_bSensor)
-- 
cgit v1.2.3


From 884a6a6573c08d2d0fe7f44994b8a874f45d68f2 Mon Sep 17 00:00:00 2001
From: Erwin Coumans <blender@erwincoumans.com>
Date: Sat, 6 Jun 2009 00:12:49 +0000
Subject: #18872 bugfix for torque on dynamic objects #18893, fix to getParam
 for generic 6dof constraints

---
 .../Physics/Bullet/CcdPhysicsController.cpp        |  3 +-
 .../Physics/Bullet/CcdPhysicsEnvironment.cpp       | 45 ++++++++++++++++++++--
 .../Physics/Bullet/CcdPhysicsEnvironment.h         |  3 ++
 .../Physics/Dummy/DummyPhysicsEnvironment.h        |  5 +++
 .../Physics/Sumo/SumoPhysicsEnvironment.h          |  4 ++
 .../Physics/common/PHY_IPhysicsEnvironment.h       |  1 +
 6 files changed, 56 insertions(+), 5 deletions(-)

(limited to 'source/gameengine/Physics')

diff --git a/source/gameengine/Physics/Bullet/CcdPhysicsController.cpp b/source/gameengine/Physics/Bullet/CcdPhysicsController.cpp
index 3a3c817698b..d22c09b4d3e 100644
--- a/source/gameengine/Physics/Bullet/CcdPhysicsController.cpp
+++ b/source/gameengine/Physics/Bullet/CcdPhysicsController.cpp
@@ -1019,7 +1019,8 @@ void		CcdPhysicsController::ApplyTorque(float torqueX,float torqueY,float torque
 			//workaround for incompatibility between 'DYNAMIC' game object, and angular factor
 			//a DYNAMIC object has some inconsistency: it has no angular effect due to collisions, but still has torque
 			const btVector3& angFac = body->getAngularFactor();
-			body->setAngularFactor(1.f);
+			btVector3 tmpFac(0,0,1);
+			body->setAngularFactor(tmpFac);
 			body->applyTorque(torque);
 			body->setAngularFactor(angFac);
 		}
diff --git a/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.cpp b/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.cpp
index 2dc7bffe618..bc7ccacc39b 100644
--- a/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.cpp
+++ b/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.cpp
@@ -1786,6 +1786,45 @@ CcdPhysicsEnvironment::~CcdPhysicsEnvironment()
 }
 
 
+float	CcdPhysicsEnvironment::getConstraintParam(int constraintId,int param)
+{
+	btTypedConstraint* typedConstraint = getConstraintById(constraintId);
+	switch (typedConstraint->getUserConstraintType())
+	{
+	case PHY_GENERIC_6DOF_CONSTRAINT:
+		{
+			
+			switch (param)
+			{
+			case 0:	case 1: case 2: 
+				{
+					//param = 0..2 are linear constraint values
+					btGeneric6DofConstraint* genCons = (btGeneric6DofConstraint*)typedConstraint;
+					genCons->calculateTransforms();
+					return genCons->getRelativePivotPosition(param);
+					break;
+				}
+				case 3: case 4: case 5:
+				{
+					//param = 3..5 are relative constraint (Euler) angles
+					btGeneric6DofConstraint* genCons = (btGeneric6DofConstraint*)typedConstraint;
+					genCons->calculateTransforms();
+					return genCons->getAngle(param-3);
+					break;
+				}
+			default:
+				{
+				}
+			}
+			break;
+		};
+	default:
+		{
+		};
+	};
+	return 0.f;
+}
+
 void	CcdPhysicsEnvironment::setConstraintParam(int constraintId,int param,float value0,float value1)
 {
 	btTypedConstraint* typedConstraint = getConstraintById(constraintId);
@@ -1835,11 +1874,9 @@ void	CcdPhysicsEnvironment::setConstraintParam(int constraintId,int param,float
 					{
 						bool springEnabled = true;
 						genCons->setStiffness(springIndex,value0);
+						genCons->setDamping(springIndex,value1);
 						genCons->enableSpring(springIndex,springEnabled);
-						if (value1>0.5f)
-						{
-							genCons->setEquilibriumPoint(springIndex);
-						}
+						genCons->setEquilibriumPoint(springIndex);
 					} else
 					{
 						bool springEnabled = false;
diff --git a/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.h b/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.h
index 4e39d531cd6..bc5491e00cc 100644
--- a/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.h
+++ b/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.h
@@ -149,7 +149,10 @@ protected:
 			const btVector3& angularMaxLimits,int flags
 			);
 
+		
 		virtual void	setConstraintParam(int constraintId,int param,float value,float value1);
+		
+		virtual float	getConstraintParam(int constraintId,int param);
 
 	    virtual void		removeConstraint(int	constraintid);
 
diff --git a/source/gameengine/Physics/Dummy/DummyPhysicsEnvironment.h b/source/gameengine/Physics/Dummy/DummyPhysicsEnvironment.h
index 73e7e947355..8dbd137f9de 100644
--- a/source/gameengine/Physics/Dummy/DummyPhysicsEnvironment.h
+++ b/source/gameengine/Physics/Dummy/DummyPhysicsEnvironment.h
@@ -88,6 +88,11 @@ public:
 		{
 		}
 
+		virtual float	getConstraintParam(int constraintId,int param)
+		{
+			return 0.f;
+		}
+
 };
 
 #endif //_DUMMYPHYSICSENVIRONMENT
diff --git a/source/gameengine/Physics/Sumo/SumoPhysicsEnvironment.h b/source/gameengine/Physics/Sumo/SumoPhysicsEnvironment.h
index 4c9d59e3673..5ae33eb4b0e 100644
--- a/source/gameengine/Physics/Sumo/SumoPhysicsEnvironment.h
+++ b/source/gameengine/Physics/Sumo/SumoPhysicsEnvironment.h
@@ -88,6 +88,10 @@ public:
 	virtual PHY_IPhysicsController*	CreateSphereController(float radius,const PHY__Vector3& position);
 	virtual PHY_IPhysicsController* CreateConeController(float coneradius,float coneheight);
 
+	virtual float	getConstraintParam(int constraintId,int param)
+	{
+		return 0.f;
+	}
 	virtual void	setConstraintParam(int constraintId,int param,float value,float value1)
 	{
 	}
diff --git a/source/gameengine/Physics/common/PHY_IPhysicsEnvironment.h b/source/gameengine/Physics/common/PHY_IPhysicsEnvironment.h
index 1939083ef5f..c76e9d175ce 100644
--- a/source/gameengine/Physics/common/PHY_IPhysicsEnvironment.h
+++ b/source/gameengine/Physics/common/PHY_IPhysicsEnvironment.h
@@ -159,6 +159,7 @@ class PHY_IPhysicsEnvironment
 		virtual PHY_IPhysicsController* CreateConeController(float coneradius,float coneheight)=0;
 		
 		virtual void	setConstraintParam(int constraintId,int param,float value,float value1) = 0;
+		virtual float	getConstraintParam(int constraintId,int param) = 0;
 };
 
 #endif //_IPHYSICSENVIRONMENT
-- 
cgit v1.2.3


From db8b4cee565676658bf6042a05b763654769f3a2 Mon Sep 17 00:00:00 2001
From: Erwin Coumans <blender@erwincoumans.com>
Date: Thu, 11 Jun 2009 13:42:41 +0000
Subject: Bugfix for [#18911] Applied torque breaks rigid bodies in game engine

---
 .../Physics/Bullet/CcdPhysicsController.cpp        | 23 ++++++++++++++--------
 1 file changed, 15 insertions(+), 8 deletions(-)

(limited to 'source/gameengine/Physics')

diff --git a/source/gameengine/Physics/Bullet/CcdPhysicsController.cpp b/source/gameengine/Physics/Bullet/CcdPhysicsController.cpp
index d22c09b4d3e..3e20203a4cc 100644
--- a/source/gameengine/Physics/Bullet/CcdPhysicsController.cpp
+++ b/source/gameengine/Physics/Bullet/CcdPhysicsController.cpp
@@ -1016,14 +1016,21 @@ void		CcdPhysicsController::ApplyTorque(float torqueX,float torqueY,float torque
 		}
 		if (body)
 		{
-			//workaround for incompatibility between 'DYNAMIC' game object, and angular factor
-			//a DYNAMIC object has some inconsistency: it has no angular effect due to collisions, but still has torque
-			const btVector3& angFac = body->getAngularFactor();
-			btVector3 tmpFac(0,0,1);
-			body->setAngularFactor(tmpFac);
-			body->applyTorque(torque);
-			body->setAngularFactor(angFac);
-		}
+			if 	(m_cci.m_bRigid)
+			{
+				body->applyTorque(torque);
+			}
+			else
+			{
+				//workaround for incompatibility between 'DYNAMIC' game object, and angular factor
+				//a DYNAMIC object has some inconsistency: it has no angular effect due to collisions, but still has torque
+				const btVector3& angFac = body->getAngularFactor();
+				btVector3 tmpFac(0,0,1);
+				body->setAngularFactor(tmpFac);
+				body->applyTorque(torque);
+				body->setAngularFactor(angFac);
+			} 
+		} 
 	}
 }
 
-- 
cgit v1.2.3