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As a response to issue [#28483] "Enable/Disable Rigid Body actuator do nothing" reported by Jean-Francois Gallant (pyroevil), I'm adding preliminary support to enable and disable rigid body physics on dynamic objects. This is can be done via the Edit Object Actuator or through KX_GameObject.enableRigidBody() and KX_GameObject.disableRigidBody(). Thanks to Sergej Reich for his help with the patch.

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This commit is contained in:
Mitchell Stokes 2012-07-09 04:57:21 +00:00
parent 4ff0efd5a2
commit 9d73cbf2c4
5 changed files with 21 additions and 27 deletions
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8
doc/python_api/rst/bge.types.rst
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@ -1335,18 +1335,10 @@ Game Types (bge.types)
Rigid body physics allows the object to roll on collisions.
.. note::
This is not working with bullet physics yet.
.. method:: disableRigidBody()
Disables rigid body physics for this object.
.. note::
This is not working with bullet physics yet. The angular is removed but rigid body physics can still rotate it later.
.. method:: setParent(parent, compound=True, ghost=True)
Sets this object's parent.

1
source/gameengine/Ketsji/KX_BulletPhysicsController.cpp
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@ -232,6 +232,7 @@ MT_Vector3 KX_BulletPhysicsController::getReactionForce()
}
void KX_BulletPhysicsController::setRigidBody(bool rigid)
{
CcdPhysicsController::setRigidBody(rigid);
}
/* This function dynamically adds the collision shape of another controller to

18
source/gameengine/Ketsji/KX_ConvertPhysicsObjects.cpp
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@ -118,6 +118,12 @@ void KX_ConvertBulletObject( class KX_GameObject* gameobj,
ci.m_MotionState = motionstate;
ci.m_gravity = btVector3(0,0,0);
ci.m_linearFactor = btVector3(objprop->m_lockXaxis? 0 : 1,
objprop->m_lockYaxis? 0 : 1,
objprop->m_lockZaxis? 0 : 1);
ci.m_angularFactor = btVector3(objprop->m_lockXRotaxis? 0 : 1,
objprop->m_lockYRotaxis? 0 : 1,
objprop->m_lockZRotaxis? 0 : 1);
ci.m_localInertiaTensor =btVector3(0,0,0);
ci.m_mass = objprop->m_dyna ? shapeprops->m_mass : 0.f;
ci.m_clamp_vel_min = shapeprops->m_clamp_vel_min;
@ -441,16 +447,8 @@ void KX_ConvertBulletObject( class KX_GameObject* gameobj,
{
if (objprop->m_angular_rigidbody)
{
btVector3 linearFactor(
objprop->m_lockXaxis? 0 : 1,
objprop->m_lockYaxis? 0 : 1,
objprop->m_lockZaxis? 0 : 1);
btVector3 angularFactor(
objprop->m_lockXRotaxis? 0 : 1,
objprop->m_lockYRotaxis? 0 : 1,
objprop->m_lockZRotaxis? 0 : 1);
rbody->setLinearFactor(linearFactor);
rbody->setAngularFactor(angularFactor);
rbody->setLinearFactor(ci.m_linearFactor);
rbody->setAngularFactor(ci.m_angularFactor);
}
if (rbody && objprop->m_disableSleeping)

17
source/gameengine/Physics/Bullet/CcdPhysicsController.cpp
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@ -1294,17 +1294,16 @@ void CcdPhysicsController::getReactionForce(float& forceX,float& forceY,float&
// dyna's that are rigidbody are free in orientation, dyna's with non-rigidbody are restricted
void CcdPhysicsController::setRigidBody(bool rigid)
{
if (!rigid)
btRigidBody* body = GetRigidBody();
if (body)
{
btRigidBody* body = GetRigidBody();
if (body)
{
//fake it for now
btVector3 inertia = body->getInvInertiaDiagLocal();
inertia[1] = 0.f;
body->setInvInertiaDiagLocal(inertia);
body->updateInertiaTensor();
m_cci.m_bRigid = rigid;
if (!rigid) {
body->setAngularFactor(0.f);
body->setAngularVelocity(btVector3(0.f, 0.f, 0.f));
}
else
body->setAngularFactor(m_cci.m_angularFactor);
}
}

4
source/gameengine/Physics/Bullet/CcdPhysicsController.h
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@ -229,6 +229,8 @@ struct CcdConstructionInfo
:m_localInertiaTensor(1.f, 1.f, 1.f),
m_gravity(0,0,0),
m_scaling(1.f,1.f,1.f),
m_linearFactor(0.f, 0.f, 0.f),
m_angularFactor(0.f, 0.f, 0.f),
m_mass(0.f),
m_clamp_vel_min(-1.f),
m_clamp_vel_max(-1.f),
@ -292,6 +294,8 @@ struct CcdConstructionInfo
btVector3 m_localInertiaTensor;
btVector3 m_gravity;
btVector3 m_scaling;
btVector3 m_linearFactor;
btVector3 m_angularFactor;
btScalar m_mass;
btScalar m_clamp_vel_min;
btScalar m_clamp_vel_max;