bartvdbraak/blender
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fixed some motionstate synchronization issues

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nearsensor was not synchronized at the start
wheels not synchronized properly (one frame delay)
This commit is contained in:
Erwin Coumans 2006-12-04 04:13:42 +00:00
parent fc691cdb5e
commit 2ec5d00da9
6 changed files with 15 additions and 8 deletions
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4
source/gameengine/Ketsji/KX_MotionState.cpp
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@ -73,7 +73,7 @@ void KX_MotionState::getWorldOrientation(float& quatIma0,float& quatIma1,float&
void KX_MotionState::setWorldPosition(float posX,float posY,float posZ)
{
m_node->SetLocalPosition(MT_Point3(posX,posY,posZ));
//m_node->SetWorldPosition(MT_Point3(posX,posY,posZ));
m_node->SetWorldPosition(MT_Point3(posX,posY,posZ));
}
void KX_MotionState::setWorldOrientation(float quatIma0,float quatIma1,float quatIma2,float quatReal)
@ -85,7 +85,7 @@ void KX_MotionState::setWorldOrientation(float quatIma0,float quatIma1,float qua
orn[3] = quatReal;
m_node->SetLocalOrientation(orn);
//m_node->SetWorldOrientation(orn);
m_node->SetWorldOrientation(orn);
}

3
source/gameengine/Ketsji/KX_NearSensor.cpp
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@ -116,6 +116,7 @@ CValue* KX_NearSensor::GetReplica()
//replica->m_sumoObj->setMargin(m_Margin);
//replica->m_sumoObj->setClientObject(replica->m_client_info);
((KX_GameObject*)replica->GetParent())->GetSGNode()->ComputeWorldTransforms(NULL);
replica->SynchronizeTransform();
return replica;
@ -139,7 +140,7 @@ void KX_NearSensor::ReParent(SCA_IObject* parent)
client_info->m_sensors.push_back(this);
SCA_ISensor::ReParent(parent);
*/
((KX_GameObject*)GetParent())->GetSGNode()->ComputeWorldTransforms(NULL);
SynchronizeTransform();
}

1
source/gameengine/Ketsji/KX_RadarSensor.cpp
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@ -103,6 +103,7 @@ CValue* KX_RadarSensor::GetReplica()
//replica->m_sumoObj->setMargin(m_Margin);
//replica->m_sumoObj->setClientObject(replica->m_client_info);
((KX_GameObject*)replica->GetParent())->GetSGNode()->ComputeWorldTransforms(NULL);
replica->SynchronizeTransform();
return replica;

6
source/gameengine/Ketsji/KX_TouchSensor.cpp
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@ -54,8 +54,10 @@ void KX_TouchSensor::SynchronizeTransform()
if (m_physCtrl)
{
MT_Vector3 pos = ((KX_GameObject*)GetParent())->NodeGetWorldPosition();
MT_Quaternion orn = ((KX_GameObject*)GetParent())->NodeGetWorldOrientation().getRotation();
KX_GameObject* parent = ((KX_GameObject*)GetParent());
MT_Vector3 pos = parent->NodeGetWorldPosition();
MT_Quaternion orn = parent->NodeGetWorldOrientation().getRotation();
m_physCtrl->setPosition(pos.x(),pos.y(),pos.z());
m_physCtrl->setOrientation(orn.x(),orn.y(),orn.z(),orn.w());
m_physCtrl->calcXform();

2
source/gameengine/Physics/Bullet/CcdPhysicsController.cpp
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@ -99,7 +99,7 @@ public:
m_blenderMotionState->setWorldPosition(worldTrans.getOrigin().getX(),worldTrans.getOrigin().getY(),worldTrans.getOrigin().getZ());
btQuaternion rotQuat = worldTrans.getRotation();
m_blenderMotionState->setWorldOrientation(rotQuat[0],rotQuat[1],rotQuat[2],rotQuat[3]);
m_blenderMotionState->calculateWorldTransformations();
}
};

7
source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.cpp
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@ -108,7 +108,8 @@ public:
{
btWheelInfo& info = m_vehicle->getWheelInfo(i);
PHY_IMotionState* motionState = (PHY_IMotionState*)info.m_clientInfo ;
m_vehicle->updateWheelTransform(i,true);
// m_vehicle->updateWheelTransformsWS(info,false);
m_vehicle->updateWheelTransform(i,false);
btTransform trans = m_vehicle->getWheelInfo(i).m_worldTransform;
btQuaternion orn = trans.getRotation();
const btVector3& pos = trans.getOrigin();
@ -463,7 +464,7 @@ bool CcdPhysicsEnvironment::proceedDeltaTime(double curTime,float timeStep)
for (i=0;i<numCtrl;i++)
{
CcdPhysicsController* ctrl = GetPhysicsController(i);
//ctrl->SynchronizeMotionStates(timeStep);
ctrl->SynchronizeMotionStates(timeStep);
}
for (i=0;i<m_wrapperVehicles.size();i++)
@ -829,6 +830,8 @@ void CcdPhysicsEnvironment::addSensor(PHY_IPhysicsController* ctrl)
}
//force collision detection with everything, including static objects (might hurt performance!)
ctrl1->GetRigidBody()->getBroadphaseHandle()->m_collisionFilterMask = btBroadphaseProxy::AllFilter;
ctrl1->GetRigidBody()->getBroadphaseHandle()->m_collisionFilterGroup = btBroadphaseProxy::AllFilter;
//todo: make this 'sensor'!
requestCollisionCallback(ctrl);
//printf("addSensor\n");