more game engine bug-fixes, hooked up 'formfactor' as inertia tensor tweaker, friction/restitution, more scaling related fixes.

extern/bullet/BulletDynamics/ConstraintSolver/ContactConstraint.cpp

@@ -27,8 +27,8 @@ SimdScalar contactTau = .02f;//0.02f;//*0.02f;
 
 SimdScalar restitutionCurve(SimdScalar rel_vel, SimdScalar restitution)
 {
-	return 0.f;
+//	return 0.f;
-//	return restitution * GEN_min(1.0f, rel_vel / ContactThreshold);
+	return restitution * GEN_min(1.0f, rel_vel / ContactThreshold);
 }
 
 

extern/bullet/BulletDynamics/Dynamics/ContactJoint.cpp

@@ -165,7 +165,7 @@ void ContactJoint::GetInfo2(Info2 *info)
 	c2[2] = ccc2[2];
 	
 	
-	float friction = 10.1f;//FRICTION_CONSTANT*m_body0->getFriction() * m_body1->getFriction();
+	float friction = FRICTION_CONSTANT*m_body0->getFriction() * m_body1->getFriction();
 	
 	// first friction direction
 	if (m_numRows >= 2) 

source/gameengine/Ketsji/KX_ConvertPhysicsObjects.cpp

@@ -1014,14 +1014,14 @@ void	KX_ConvertBulletObject(	class	KX_GameObject* gameobj,
 
 	ci.m_collisionShape = bm;
 	ci.m_broadphaseHandle = 0;
-	ci.m_friction = smmaterial->m_friction;
+	ci.m_friction = 5.f* smmaterial->m_friction;//tweak the friction a bit, so the default 0.5 works nice
 	ci.m_restitution = smmaterial->m_restitution;
 	ci.m_physicsEnv = env;
 	// drag / damping is inverted
 	ci.m_linearDamping = 1.f - shapeprops->m_lin_drag;
 	ci.m_angularDamping = 1.f - shapeprops->m_ang_drag;
 	//need a bit of damping, else system doesn't behave well
-	
+	ci.m_inertiaFactor = shapeprops->m_inertia/0.4f;//defaults to 0.4, don't want to change behaviour
 
 	KX_BulletPhysicsController* physicscontroller = new KX_BulletPhysicsController(ci,isbulletdyna);
 

source/gameengine/Ketsji/KX_KetsjiEngine.cpp

@@ -364,10 +364,14 @@ void KX_KetsjiEngine::NextFrame()
 					scene->setSuspendedDelta(scene->getSuspendedDelta()+curtime-scene->getSuspendedTime());
 				m_suspendeddelta = scene->getSuspendedDelta();
 
-				m_logger->StartLog(tc_physics, m_kxsystem->GetTimeInSeconds(), true);
+				
 				m_logger->StartLog(tc_network, m_kxsystem->GetTimeInSeconds(), true);
 				scene->GetNetworkScene()->proceed(localtime);
 	
+				m_logger->StartLog(tc_scenegraph, m_kxsystem->GetTimeInSeconds(), true);
+				scene->UpdateParents(localtime);
+				
+				m_logger->StartLog(tc_physics, m_kxsystem->GetTimeInSeconds(), true);
 				// set Python hooks for each scene
 				PHY_SetActiveEnvironment(scene->GetPhysicsEnvironment());
 				PHY_SetActiveScene(scene);
@@ -399,11 +403,11 @@ void KX_KetsjiEngine::NextFrame()
 				m_logger->StartLog(tc_scenegraph, m_kxsystem->GetTimeInSeconds(), true);
 				scene->UpdateParents(localtime);
 				
+				m_logger->StartLog(tc_physics, m_kxsystem->GetTimeInSeconds(), true);
 				scene->GetPhysicsEnvironment()->beginFrame();
 		
 				// Perform physics calculations on the scene. This can involve 
 				// many iterations of the physics solver.
-				m_logger->StartLog(tc_physics, m_kxsystem->GetTimeInSeconds(), true);
 				scene->GetPhysicsEnvironment()->proceedDeltaTime(localtime,realDeltaTime);
 				m_previoustime = curtime;
 
@@ -462,6 +466,9 @@ void KX_KetsjiEngine::NextFrame()
 			PHY_SetActiveEnvironment(scene->GetPhysicsEnvironment());
 			PHY_SetActiveScene(scene);
 			
+			m_logger->StartLog(tc_scenegraph, m_kxsystem->GetTimeInSeconds(), true);
+			scene->UpdateParents(curtime);
+
 			// Perform physics calculations on the scene. This can involve 
 			// many iterations of the physics solver.
 			m_logger->StartLog(tc_physics, m_kxsystem->GetTimeInSeconds(), true);

source/gameengine/Physics/Bullet/CcdPhysicsController.cpp

@@ -63,7 +63,7 @@ void CcdPhysicsController::CreateRigidbody()
 	// init the rigidbody properly
 	//
 	
-	m_body->setMassProps(m_cci.m_mass, m_cci.m_localInertiaTensor);
+	m_body->setMassProps(m_cci.m_mass, m_cci.m_localInertiaTensor * m_cci.m_inertiaFactor);
 	m_body->setGravity( m_cci.m_gravity);
 	m_body->setDamping(m_cci.m_linearDamping, m_cci.m_angularDamping);
 	m_body->setCenterOfMassTransform( trans );
@@ -237,15 +237,26 @@ void		CcdPhysicsController::resolveCombinedVelocities(float linvelX,float linvel
 
 void 		CcdPhysicsController::getPosition(PHY__Vector3&	pos) const
 {
-	assert(0);
+	const SimdTransform& xform = m_body->getCenterOfMassTransform();
+	pos[0] = xform.getOrigin().x();
+	pos[1] = xform.getOrigin().y();
+	pos[2] = xform.getOrigin().z();
 }
 
 void		CcdPhysicsController::setScaling(float scaleX,float scaleY,float scaleZ)
 {
-	if (m_body && m_body->GetCollisionShape())
+	if (!SimdFuzzyZero(m_cci.m_scaling.x()-scaleX) ||
+		!SimdFuzzyZero(m_cci.m_scaling.y()-scaleY) ||
+		!SimdFuzzyZero(m_cci.m_scaling.z()-scaleZ))
 	{
-		SimdVector3 scaling(scaleX,scaleY,scaleZ);
+		m_cci.m_scaling = SimdVector3(scaleX,scaleY,scaleZ);
-		m_body->GetCollisionShape()->setLocalScaling(scaling);
+
+		if (m_body && m_body->GetCollisionShape())
+		{
+			m_body->GetCollisionShape()->setLocalScaling(m_cci.m_scaling);
+			m_body->GetCollisionShape()->CalculateLocalInertia(m_cci.m_mass, m_cci.m_localInertiaTensor);
+			m_body->setMassProps(m_cci.m_mass, m_cci.m_localInertiaTensor * m_cci.m_inertiaFactor);
+		}
 	}
 }
 		

source/gameengine/Physics/Bullet/CcdPhysicsController.h

@@ -29,12 +29,15 @@ struct CcdConstructionInfo
 		m_angularDamping(0.1f),
 		m_MotionState(0),
 		m_collisionShape(0),
-		m_physicsEnv(0)
+		m_physicsEnv(0),
-
+		m_inertiaFactor(1.f),
+		m_scaling(1.f,1.f,1.f)
 	{
 	}
+
 	SimdVector3	m_localInertiaTensor;
 	SimdVector3	m_gravity;
+	SimdVector3	m_scaling;
 	SimdScalar	m_mass;
 	SimdScalar	m_restitution;
 	SimdScalar	m_friction;
@@ -45,6 +48,7 @@ struct CcdConstructionInfo
 
 	CollisionShape*			m_collisionShape;
 	CcdPhysicsEnvironment*	m_physicsEnv; //needed for self-replication
+	float	m_inertiaFactor;//tweak the inertia (hooked up to Blender 'formfactor'
 };