BGE bug fix (for 2.47): setParent() fix, third part: set mass to 0 when parenting. Allow loc/scale/orientation change on child object with physic controller.

source/gameengine/Ketsji/KX_BulletPhysicsController.cpp

@@ -170,10 +170,12 @@ void	KX_BulletPhysicsController::SuspendDynamics(bool ghost)
 	{
 		btBroadphaseProxy* handle = body->getBroadphaseHandle();
 		m_savedCollisionFlags = body->getCollisionFlags();
+		m_savedMass = GetMass();
 		m_savedCollisionFilterGroup = handle->m_collisionFilterGroup;
 		m_savedCollisionFilterMask = handle->m_collisionFilterMask;
 		body->setActivationState(DISABLE_SIMULATION);
 		GetPhysicsEnvironment()->updateCcdPhysicsController(this, 
+			0.0,
 			btCollisionObject::CF_STATIC_OBJECT|((ghost)?btCollisionObject::CF_NO_CONTACT_RESPONSE:(m_savedCollisionFlags&btCollisionObject::CF_NO_CONTACT_RESPONSE)),
 			btBroadphaseProxy::StaticFilter, 
 			btBroadphaseProxy::AllFilter ^ btBroadphaseProxy::StaticFilter);
@@ -185,11 +187,12 @@ void	KX_BulletPhysicsController::RestoreDynamics()
 	btRigidBody *body = GetRigidBody();
 	if (body->getActivationState() == DISABLE_SIMULATION)
 	{
-		GetRigidBody()->forceActivationState(ACTIVE_TAG);
 		GetPhysicsEnvironment()->updateCcdPhysicsController(this, 
+			m_savedMass,
 			m_savedCollisionFlags,
 			m_savedCollisionFilterGroup,
 			m_savedCollisionFilterMask);
+		GetRigidBody()->forceActivationState(ACTIVE_TAG);
 	}
 }
 

source/gameengine/Ketsji/KX_BulletPhysicsController.h

@@ -11,6 +11,8 @@ private:
 	int m_savedCollisionFlags;
 	short int m_savedCollisionFilterGroup;
 	short int m_savedCollisionFilterMask;
+	MT_Scalar m_savedMass;
+
 public:
 
 	KX_BulletPhysicsController (const CcdConstructionInfo& ci, bool dyna);

source/gameengine/Ketsji/KX_GameObject.cpp

@@ -224,6 +224,10 @@ void KX_GameObject::SetParent(KX_Scene *scene, KX_GameObject* obj)
 		RemoveParent(scene);
 		obj->GetSGNode()->AddChild(GetSGNode());
 
+		if (m_pPhysicsController1) 
+		{
+			m_pPhysicsController1->SuspendDynamics(true);
+		}
 		// Set us to our new scale, position, and orientation
 		scale1[0] = scale1[0]/scale2[0];
 		scale1[1] = scale1[1]/scale2[1];
@@ -240,10 +244,6 @@ void KX_GameObject::SetParent(KX_Scene *scene, KX_GameObject* obj)
 		if (rootlist->RemoveValue(this))
 			// the object was in parent list, decrement ref count as it's now removed
 			Release();
-		if (m_pPhysicsController1) 
-		{
-			m_pPhysicsController1->SuspendDynamics(true);
-		}
 	}
 }
 
@@ -724,8 +724,12 @@ MT_Vector3 KX_GameObject::GetAngularVelocity(bool local)
 
 void KX_GameObject::NodeSetLocalPosition(const MT_Point3& trans)
 {
-	if (m_pPhysicsController1)
+	if (m_pPhysicsController1 && (!GetSGNode() || !GetSGNode()->GetSGParent()))
 	{
+		// don't update physic controller if the object is a child:
+		// 1) the transformation will not be right
+		// 2) in this case, the physic controller is necessarily a static object
+		//    that is updated from the normal kinematic synchronization
 		m_pPhysicsController1->setPosition(trans);
 	}
 
@@ -737,25 +741,22 @@ void KX_GameObject::NodeSetLocalPosition(const MT_Point3& trans)
 
 void KX_GameObject::NodeSetLocalOrientation(const MT_Matrix3x3& rot)
 {
-	if (m_pPhysicsController1)
+	if (m_pPhysicsController1 && (!GetSGNode() || !GetSGNode()->GetSGParent()))
 	{
+		// see note above
 		m_pPhysicsController1->setOrientation(rot.getRotation());
 	}
 	if (GetSGNode())
 		GetSGNode()->SetLocalOrientation(rot);
-	else
-	{
-		int i;
-		i=0;
-	}
 }
 
 
 
 void KX_GameObject::NodeSetLocalScale(const MT_Vector3& scale)
 {
-	if (m_pPhysicsController1)
+	if (m_pPhysicsController1 && (!GetSGNode() || !GetSGNode()->GetSGParent()))
 	{
+		// see note above
 		m_pPhysicsController1->setScaling(scale);
 	}
 	

source/gameengine/Physics/Bullet/CcdPhysicsController.h

@@ -106,6 +106,7 @@ class CcdPhysicsController : public PHY_IPhysicsController
 	btRigidBody* m_body;
 	class PHY_IMotionState*		m_MotionState;
 	btMotionState* 	m_bulletMotionState;
+	friend class CcdPhysicsEnvironment;	// needed when updating the controller
 
 
 	void*		m_newClientInfo;
@@ -194,7 +195,6 @@ class CcdPhysicsController : public PHY_IPhysicsController
 			return m_cci.m_collisionFilterMask;
 		}
 
-
 		virtual void	calcXform() {} ;
 		virtual void SetMargin(float margin) {};
 		virtual float GetMargin() const {return 0.f;};

source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.cpp

@@ -466,17 +466,39 @@ void	CcdPhysicsEnvironment::removeCcdPhysicsController(CcdPhysicsController* ctr
 
 }
 
-void	CcdPhysicsEnvironment::updateCcdPhysicsController(CcdPhysicsController* ctrl, int newCollisionFlags, short int newCollisionGroup, short int newCollisionMask)
+void	CcdPhysicsEnvironment::updateCcdPhysicsController(CcdPhysicsController* ctrl, btScalar newMass, int newCollisionFlags, short int newCollisionGroup, short int newCollisionMask)
 {
 	// this function is used when the collisionning group of a controller is changed
 	// remove and add the collistioning object
 	btRigidBody* body = ctrl->GetRigidBody();
+	btVector3 inertia;
 
 	m_dynamicsWorld->removeCollisionObject(body);
 	body->setCollisionFlags(newCollisionFlags);
+	body->getCollisionShape()->calculateLocalInertia(newMass, inertia);
+	body->setMassProps(newMass, inertia);
 	m_dynamicsWorld->addCollisionObject(body, newCollisionGroup, newCollisionMask);
+	// to avoid nasty interaction, we must update the property of the controller as well
+	ctrl->m_cci.m_mass = newMass;
+	ctrl->m_cci.m_collisionFilterGroup = newCollisionGroup;
+	ctrl->m_cci.m_collisionFilterMask = newCollisionMask;
+	ctrl->m_cci.m_collisionFlags = newCollisionFlags;
 }
 
+void CcdPhysicsEnvironment::enableCcdPhysicsController(CcdPhysicsController* ctrl)
+{
+	std::vector<CcdPhysicsController*>::iterator i =
+		std::find(m_controllers.begin(), m_controllers.end(), ctrl);
+	if (i == m_controllers.end())
+	{
+		btRigidBody* body = ctrl->GetRigidBody();
+		m_dynamicsWorld->addCollisionObject(body, 
+			ctrl->GetCollisionFilterGroup(), ctrl->GetCollisionFilterMask());
+	}
+}
+
+
+
 void	CcdPhysicsEnvironment::beginFrame()
 {
 

source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.h

@@ -183,7 +183,14 @@ protected:
 
 		void	removeCcdPhysicsController(CcdPhysicsController* ctrl);
 
-		void	updateCcdPhysicsController(CcdPhysicsController* ctrl, int newCollisionFlags, short int newCollisionGroup, short int newCollisionMask);
+		void	updateCcdPhysicsController(CcdPhysicsController* ctrl, btScalar newMass, int newCollisionFlags, short int newCollisionGroup, short int newCollisionMask);
+
+		void	disableCcdPhysicsController(CcdPhysicsController* ctrl)
+		{ 
+			removeCcdPhysicsController(ctrl); 
+		}
+
+		void	enableCcdPhysicsController(CcdPhysicsController* ctrl);
 
 		btBroadphaseInterface*	getBroadphase();