bugfix/workaround for problem with hard-coded collision margins being too large.

source/gameengine/Ketsji/KX_BulletPhysicsController.cpp

@@ -15,6 +15,7 @@
 
 #include "PHY_IPhysicsEnvironment.h"
 
+
 KX_BulletPhysicsController::KX_BulletPhysicsController (const CcdConstructionInfo& ci, bool dyna)
 : KX_IPhysicsController(dyna,(PHY_IPhysicsController*)this),
 CcdPhysicsController(ci)
@@ -58,6 +59,10 @@ void	KX_BulletPhysicsController::SetObject (SG_IObject* object)
 
 }
 
+void	KX_BulletPhysicsController::SetMargin (float collisionMargin)
+{
+	CcdPhysicsController::SetMargin(collisionMargin);
+}
 void	KX_BulletPhysicsController::RelativeTranslate(const MT_Vector3& dloc,bool local)
 {
 	CcdPhysicsController::RelativeTranslate(dloc[0],dloc[1],dloc[2],local);

source/gameengine/Ketsji/KX_BulletPhysicsController.h

@@ -19,7 +19,7 @@ public:
 
 	virtual void	applyImpulse(const MT_Point3& attach, const MT_Vector3& impulse);
 	virtual void	SetObject (SG_IObject* object);
-
+	virtual void	SetMargin (float collisionMargin);
 	virtual void	RelativeTranslate(const MT_Vector3& dloc,bool local);
 	virtual void	RelativeRotate(const MT_Matrix3x3& drot,bool local);
 	virtual void	ApplyTorque(const MT_Vector3& torque,bool local);

source/gameengine/Ketsji/KX_GameObject.cpp

@@ -627,6 +627,7 @@ PyMethodDef KX_GameObject::Methods[] = {
 	{"getMass", (PyCFunction) KX_GameObject::sPyGetMass, METH_VARARGS},
 	{"getReactionForce", (PyCFunction) KX_GameObject::sPyGetReactionForce, METH_VARARGS},
 	{"applyImpulse", (PyCFunction) KX_GameObject::sPyApplyImpulse, METH_VARARGS},
+	{"setCollisionMargin", (PyCFunction) KX_GameObject::sPySetCollisionMargin, METH_VARARGS},
 	{"suspendDynamics", (PyCFunction)KX_GameObject::sPySuspendDynamics,METH_VARARGS},
 	{"restoreDynamics", (PyCFunction)KX_GameObject::sPyRestoreDynamics,METH_VARARGS},
 	{"enableRigidBody", (PyCFunction)KX_GameObject::sPyEnableRigidBody,METH_VARARGS},
@@ -979,6 +980,29 @@ PyObject* KX_GameObject::PyGetMesh(PyObject* self,
 }
 
 
+
+
+
+PyObject* KX_GameObject::PySetCollisionMargin(PyObject* self, 
+										PyObject* args, 
+										PyObject* kwds)
+{
+	float collisionMargin;
+	if (PyArg_ParseTuple(args, "f", &collisionMargin))
+	{
+		if (m_pPhysicsController1)
+		{
+			m_pPhysicsController1->SetMargin(collisionMargin);
+			Py_Return;
+		}
+
+	}
+	
+	return NULL;
+}
+
+
+
 PyObject* KX_GameObject::PyApplyImpulse(PyObject* self, 
 										PyObject* args, 
 										PyObject* kwds)

source/gameengine/Ketsji/KX_GameObject.h

@@ -604,6 +604,7 @@ public:
 	KX_PYMETHOD(KX_GameObject,EnableRigidBody);
 	KX_PYMETHOD(KX_GameObject,DisableRigidBody);
 	KX_PYMETHOD(KX_GameObject,ApplyImpulse);
+	KX_PYMETHOD(KX_GameObject,SetCollisionMargin);
 	KX_PYMETHOD(KX_GameObject,GetMesh);
 	KX_PYMETHOD(KX_GameObject,GetParent);
 	KX_PYMETHOD(KX_GameObject,GetPhysicsId);

source/gameengine/Ketsji/KX_IPhysicsController.h

@@ -60,6 +60,7 @@ public:
 
 	virtual void	applyImpulse(const MT_Point3& attach, const MT_Vector3& impulse)=0;
 	virtual void	SetObject (SG_IObject* object)=0;
+	virtual void	SetMargin (float collisionMargin)=0;
 
 	virtual void	RelativeTranslate(const MT_Vector3& dloc,bool local)=0;
 	virtual void	RelativeRotate(const MT_Matrix3x3& drot,bool local)=0;

source/gameengine/Ketsji/KX_SumoPhysicsController.cpp

@@ -164,6 +164,11 @@ gameobj->SetPhysicsController(this,gameobj->IsDynamic());
 GetSumoObject()->setClientObject(gameobj->getClientInfo());
 }
 
+void	KX_SumoPhysicsController::SetMargin(float collisionMargin)
+{
+	SumoPhysicsController::SetMargin(collisionMargin);
+}
+
 
 void KX_SumoPhysicsController::setOrientation(const MT_Quaternion& orn)
 {

source/gameengine/Ketsji/KX_SumoPhysicsController.h

@@ -64,7 +64,7 @@ public:
 
 	void	applyImpulse(const MT_Point3& attach, const MT_Vector3& impulse);
 	virtual void	SetObject (SG_IObject* object);
-
+	virtual void	SetMargin (float collisionMargin);
 	
 	void	RelativeTranslate(const MT_Vector3& dloc,bool local);
 	void	RelativeRotate(const MT_Matrix3x3& drot,bool local);

source/gameengine/Physics/Bullet/CcdPhysicsController.cpp

@@ -210,6 +210,28 @@ void		CcdPhysicsController::PostProcessReplica(class PHY_IMotionState* motionsta
 
 }
 
+void CcdPhysicsController::SetMargin(float margin)
+{
+	if (m_body && m_body->GetCollisionShape())
+	{
+		m_body->GetCollisionShape()->SetMargin(margin);
+	}
+
+
+}
+
+float CcdPhysicsController::GetMargin() const
+{
+	if (m_body && m_body->GetCollisionShape())
+	{
+		return m_body->GetCollisionShape()->GetMargin();
+	}
+
+	return 0.f;
+
+}
+
+
 		// kinematic methods
 void		CcdPhysicsController::RelativeTranslate(float dlocX,float dlocY,float dlocZ,bool local)
 {

source/gameengine/Physics/Bullet/CcdPhysicsController.h

@@ -160,8 +160,8 @@ class CcdPhysicsController : public PHY_IPhysicsController
 		
 
 		virtual void	calcXform() {} ;
-		virtual void SetMargin(float margin) {};
-		virtual float GetMargin() const {return 0.f;};
+		virtual void SetMargin(float margin);
+		virtual float GetMargin() const;
 
 
 		bool	wantsSleeping();