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some Bullet compound shape fix

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This commit is contained in:
Erwin Coumans 2006-12-01 03:29:20 +00:00
parent 71da111613
commit 610026765b
1 changed files with 75 additions and 68 deletions
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143
source/gameengine/Ketsji/KX_ConvertPhysicsObjects.cpp
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@ -872,7 +872,6 @@ static btCollisionShape* CreateBulletShapeFromMesh(RAS_MeshObject* meshobj, bool
}
void KX_ConvertBulletObject( class KX_GameObject* gameobj,
class RAS_MeshObject* meshobj,
class KX_Scene* kxscene,
@ -884,11 +883,29 @@ void KX_ConvertBulletObject( class KX_GameObject* gameobj,
CcdPhysicsEnvironment* env = (CcdPhysicsEnvironment*)kxscene->GetPhysicsEnvironment();
assert(env);
bool isbulletdyna = objprop->m_dyna;
bool isbulletdyna = false;
CcdConstructionInfo ci;
class PHY_IMotionState* motionstate = new KX_MotionState(gameobj->GetSGNode());
if (!objprop->m_dyna)
{
ci.m_collisionFlags |= btCollisionObject::CF_STATIC_OBJECT;
}
ci.m_MotionState = motionstate;
ci.m_gravity = btVector3(0,0,0);
ci.m_localInertiaTensor =btVector3(0,0,0);
ci.m_mass = objprop->m_dyna ? shapeprops->m_mass : 0.f;
isbulletdyna = objprop->m_dyna;
ci.m_localInertiaTensor = btVector3(ci.m_mass/3.f,ci.m_mass/3.f,ci.m_mass/3.f);
btTransform trans;
trans.setIdentity();
btCollisionShape* bm = 0;
switch (objprop->m_boundclass)
@ -1004,57 +1021,63 @@ void KX_ConvertBulletObject( class KX_GameObject* gameobj,
bm->setMargin(0.06);
if (objprop->m_isCompoundChild)
{
//find parent, compound shape and add to it
//take relative transform into account!
KX_BulletPhysicsController* parentCtrl = (KX_BulletPhysicsController*)objprop->m_dynamic_parent->GetPhysicsController();
assert(parentCtrl);
btRigidBody* rigidbody = parentCtrl->GetRigidBody();
btCollisionShape* colShape = rigidbody->getCollisionShape();
assert(colShape->isCompound());
btCompoundShape* compoundShape = (btCompoundShape*)colShape;
btTransform childTrans;
childTrans.setIdentity();
NodeList& children = objprop->m_dynamic_parent->GetSGNode()->GetSGChildren();
MT_Point3 childPos = gameobj->GetSGNode()->GetLocalPosition();
MT_Matrix3x3 childRot = gameobj->GetSGNode()->GetLocalOrientation();
MT_Vector3 childScale = gameobj->GetSGNode()->GetLocalScale();
bm->setLocalScaling(btVector3(childScale.x(),childScale.y(),childScale.z()));
childTrans.setOrigin(btVector3(childPos.x(),childPos.y(),childPos.z()));
float rotval[12];
childRot.getValue(rotval);
btMatrix3x3 newRot;
newRot.setValue(rotval[0],rotval[1],rotval[2],rotval[4],rotval[5],rotval[6],rotval[8],rotval[9],rotval[10]);
newRot = newRot.transpose();
childTrans.setBasis(newRot);
compoundShape->addChildShape(childTrans,bm);
//do some recalc?
//recalc inertia for rigidbody
if (!rigidbody->isStaticOrKinematicObject())
if (objprop->m_isCompoundChild)
{
btVector3 localInertia;
float mass = 1.f/rigidbody->getInvMass();
compoundShape->calculateLocalInertia(mass,localInertia);
rigidbody->setMassProps(mass,localInertia);
}
return;
}
//find parent, compound shape and add to it
//take relative transform into account!
KX_BulletPhysicsController* parentCtrl = (KX_BulletPhysicsController*)objprop->m_dynamic_parent->GetPhysicsController();
assert(parentCtrl);
btRigidBody* rigidbody = parentCtrl->GetRigidBody();
btCollisionShape* colShape = rigidbody->getCollisionShape();
assert(colShape->isCompound());
btCompoundShape* compoundShape = (btCompoundShape*)colShape;
btTransform childTrans;
childTrans.setIdentity();
NodeList& children = objprop->m_dynamic_parent->GetSGNode()->GetSGChildren();
MT_Point3 childPos = gameobj->GetSGNode()->GetLocalPosition();
MT_Matrix3x3 childRot = gameobj->GetSGNode()->GetLocalOrientation();
MT_Vector3 childScale = gameobj->GetSGNode()->GetLocalScale();
bm->setLocalScaling(btVector3(childScale.x(),childScale.y(),childScale.z()));
childTrans.setOrigin(btVector3(childPos.x(),childPos.y(),childPos.z()));
float rotval[12];
childRot.getValue(rotval);
btMatrix3x3 newRot;
newRot.setValue(rotval[0],rotval[1],rotval[2],rotval[4],rotval[5],rotval[6],rotval[8],rotval[9],rotval[10]);
newRot = newRot.transpose();
childTrans.setBasis(newRot);
compoundShape->addChildShape(childTrans,bm);
//do some recalc?
//recalc inertia for rigidbody
if (!rigidbody->isStaticOrKinematicObject())
{
btVector3 localInertia;
float mass = 1.f/rigidbody->getInvMass();
compoundShape->calculateLocalInertia(mass,localInertia);
rigidbody->setMassProps(mass,localInertia);
}
return;
}
if (objprop->m_hasCompoundChildren)
{
//replace shape by compoundShape
btCompoundShape* compoundShape = new btCompoundShape();
btTransform identTrans;
identTrans.setIdentity();
compoundShape->addChildShape(identTrans,bm);
bm = compoundShape;
}
if (objprop->m_hasCompoundChildren)
{
//replace shape by compoundShape
btCompoundShape* compoundShape = new btCompoundShape();
btTransform identTrans;
identTrans.setIdentity();
compoundShape->addChildShape(identTrans,bm);
bm = compoundShape;
}
#ifdef TEST_SIMD_HULL
@ -1087,23 +1110,6 @@ void KX_ConvertBulletObject( class KX_GameObject* gameobj,
ci.m_collisionShape = bm;
class PHY_IMotionState* motionstate = new KX_MotionState(gameobj->GetSGNode());
if (!objprop->m_dyna)
{
ci.m_collisionFlags |= btCollisionObject::CF_STATIC_OBJECT;
}
ci.m_MotionState = motionstate;
ci.m_gravity = btVector3(0,0,0);
ci.m_localInertiaTensor = btVector3(ci.m_mass/3.f,ci.m_mass/3.f,ci.m_mass/3.f);
btTransform trans;
trans.setIdentity();
ci.m_friction = smmaterial->m_friction;//tweak the friction a bit, so the default 0.5 works nice
ci.m_restitution = smmaterial->m_restitution;
@ -1175,7 +1181,8 @@ void KX_ConvertBulletObject( class KX_GameObject* gameobj,
physicscontroller->SetObject(gameobj->GetSGNode());
}
void KX_ClearBulletSharedShapes()
{
int numshapes = map_gamemesh_to_bulletshape.size();