- added debug line drawing in gameengine (handy for debugging physics problems)

- added #ifdef for a visual studio 8 crashing problems
- added scaling and tolerances to triangle meshes

extern/bullet/Bullet/CollisionShapes/CollisionShape.h

@@ -69,6 +69,8 @@ public:
 	const char * m_tempDebug;
 //endif debugging support
 
+	virtual void	SetMargin(float margin) = 0;
+	virtual float	GetMargin() const = 0;
 
 };	
 

extern/bullet/Bullet/CollisionShapes/StridingMeshInterface.h

@@ -34,7 +34,7 @@ class  StridingMeshInterface
 	public:
 		StridingMeshInterface() :m_scaling(1.f,1.f,1.f)
 		{
-			
+
 		}
 
 		virtual ~StridingMeshInterface();
@@ -64,6 +64,8 @@ class  StridingMeshInterface
 		{
 			m_scaling = scaling;
 		}
+
+
 };
 
 #endif //STRIDING_MESHINTERFACE_H

extern/bullet/Bullet/CollisionShapes/TriangleMesh.h

@@ -27,6 +27,7 @@ struct MyTriangle
 class TriangleMesh : public StridingMeshInterface
 {
 	std::vector<MyTriangle>	m_triangles;
+	
 
 	public:
 		TriangleMesh ();
@@ -56,8 +57,7 @@ class TriangleMesh : public StridingMeshInterface
 		virtual void	preallocateVertices(int numverts){}
 		virtual void	preallocateIndices(int numindices){}
 
-
-
+		
 };
 
 #endif //TRIANGLE_MESH_H

extern/bullet/Bullet/CollisionShapes/TriangleMeshShape.cpp

@@ -17,7 +17,8 @@
 
 
 TriangleMeshShape::TriangleMeshShape(StridingMeshInterface* meshInterface)
-: m_meshInterface(meshInterface)
+: m_meshInterface(meshInterface),
+m_collisionMargin(0.1f)
 {
 }
 
@@ -31,16 +32,16 @@ TriangleMeshShape::~TriangleMeshShape()
 
 void TriangleMeshShape::GetAabb(const SimdTransform& trans,SimdVector3& aabbMin,SimdVector3& aabbMax) const
 {
-	SimdScalar margin = 0.5f;
+
 	for (int i=0;i<3;i++)
 	{
 		SimdVector3 vec(0.f,0.f,0.f);
 		vec[i] = 1.f;
 		SimdVector3 tmp = trans(LocalGetSupportingVertex(vec*trans.getBasis()));
-		aabbMax[i] = tmp[i]+margin;
+		aabbMax[i] = tmp[i]+m_collisionMargin;
 		vec[i] = -1.f;
 		tmp = trans(LocalGetSupportingVertex(vec*trans.getBasis()));
-		aabbMin[i] = tmp[i]-margin;
+		aabbMin[i] = tmp[i]-m_collisionMargin;
 	}
 }
 

extern/bullet/Bullet/CollisionShapes/TriangleMeshShape.h

@@ -24,7 +24,8 @@ class TriangleMeshShape : public CollisionShape
 {
 
 	StridingMeshInterface* m_meshInterface;
-	
+	float m_collisionMargin;
+
 public:
 	TriangleMeshShape(StridingMeshInterface* meshInterface);
 
@@ -57,6 +58,16 @@ public:
 	//debugging
 	virtual char*	GetName()const {return "TRIANGLEMESH";}
 
+	
+	virtual float GetMargin() const {
+		return m_collisionMargin;
+	}
+	virtual void SetMargin(float collisionMargin)
+	{
+		m_collisionMargin = collisionMargin;
+	}
+
+
 
 };
 

extern/bullet/Bullet/NarrowPhaseCollision/ContinuousConvexCollision.cpp

@@ -120,13 +120,18 @@ bool	ContinuousConvexCollision::calcTimeOfImpact(
 
 			lambda = lambda + dLambda;
 
+			if (lambda > 1.f)
+				return false;
+
+			if (lambda < 0.f)
+				return false;
+
 			//todo: next check with relative epsilon
 			if (lambda <= lastLambda)
 				break;
 			lastLambda = lambda;
 
-			if (lambda > 1.f)
-				return false;
+			
 
 			//interpolate to next lambda
 			SimdTransform interpolatedTransA,interpolatedTransB,relativeTrans;

extern/bullet/BulletDynamics/CollisionDispatch/ConvexConcaveCollisionAlgorithm.cpp

@@ -83,6 +83,8 @@ void BoxTriangleCallback::ProcessTriangle(SimdVector3* triangle)
 	if (m_boxProxy->IsConvexShape())
 	{
 		TriangleShape tm(triangle[0],triangle[1],triangle[2]);	
+		tm.SetMargin(m_collisionMarginTriangle);
+
 		RigidBody* triangleBody = (RigidBody* )m_triangleProxy.m_clientObject;
 		
 		triangleBody->SetCollisionShape(&tm);
@@ -97,11 +99,12 @@ void BoxTriangleCallback::ProcessTriangle(SimdVector3* triangle)
 
 
 
-void	BoxTriangleCallback::SetTimeStepAndCounters(float timeStep,int stepCount,bool useContinuous)
+void	BoxTriangleCallback::SetTimeStepAndCounters(float timeStep,int stepCount,float collisionMarginTriangle,bool useContinuous)
 {
 	m_timeStep = timeStep;
 	m_stepCount = stepCount;
 	m_useContinuous = useContinuous;
+	m_collisionMarginTriangle = collisionMarginTriangle;
 
 	//recalc aabbs
 	RigidBody* boxBody = (RigidBody* )m_boxProxy->m_clientObject;
@@ -141,8 +144,9 @@ void ConvexConcaveCollisionAlgorithm::ProcessCollision (BroadphaseProxy* ,Broadp
 		
 		if (m_convex.IsConvexShape())
 		{
+			float collisionMarginTriangle = triangleMesh->GetMargin();
 					
-			m_boxTriangleCallback.SetTimeStepAndCounters(timeStep,stepCount, useContinuous);
+			m_boxTriangleCallback.SetTimeStepAndCounters(timeStep,stepCount, collisionMarginTriangle,useContinuous);
 #ifdef USE_BOX_TRIANGLE
 			m_boxTriangleCallback.m_manifoldPtr->ClearManifold();
 #endif
@@ -161,6 +165,8 @@ void ConvexConcaveCollisionAlgorithm::ProcessCollision (BroadphaseProxy* ,Broadp
 float ConvexConcaveCollisionAlgorithm::CalculateTimeOfImpact(BroadphaseProxy* ,BroadphaseProxy* ,float timeStep,int stepCount)
 {
 
+	return 1.f;
+
 	//quick approximation using raycast, todo: use proper continuou collision detection
 	RigidBody* convexbody = (RigidBody* )m_convex.m_clientObject;
 	const SimdVector3& from = convexbody->getCenterOfMassPosition();
@@ -193,7 +199,7 @@ float ConvexConcaveCollisionAlgorithm::CalculateTimeOfImpact(BroadphaseProxy* ,B
 		RigidBody* concavebody = (RigidBody* )m_concave.m_clientObject;
 
 		TriangleMeshShape* triangleMesh = (TriangleMeshShape*) concavebody->GetCollisionShape();
-
+		
 		if (triangleMesh)
 		{
 			triangleMesh->ProcessAllTriangles(&raycastCallback,aabbMin,aabbMax);

extern/bullet/BulletDynamics/CollisionDispatch/ConvexConcaveCollisionAlgorithm.h

@@ -33,6 +33,7 @@ class BoxTriangleCallback : public TriangleCallback
 	float	m_timeStep;
 	int	m_stepCount;
 	bool m_useContinuous;
+	float m_collisionMarginTriangle;
 	
 public:
 
@@ -40,7 +41,7 @@ public:
 
 	BoxTriangleCallback(Dispatcher* dispatcher,BroadphaseProxy* proxy0,BroadphaseProxy* proxy1);
 
-	void	SetTimeStepAndCounters(float timeStep,int stepCount, bool useContinuous);
+	void	SetTimeStepAndCounters(float timeStep,int stepCount, float collisionMarginTriangle,bool useContinuous);
 
 	virtual ~BoxTriangleCallback();
 

extern/bullet/LinearMath/SimdQuadWord.h

@@ -92,16 +92,14 @@ class	SimdQuadWord
 		}
 
 		SIMD_FORCE_INLINE SimdQuadWord() 
-		:m_x(0),m_y(0),m_z(0)
-		//todo, remove this in release/simd ?
-		,m_unusedW(0)
+		:m_x(0.f),m_y(0.f),m_z(0.f),m_unusedW(0.f)
 		{
 		}
 
 		SIMD_FORCE_INLINE SimdQuadWord(const SimdScalar& x, const SimdScalar& y, const SimdScalar& z) 
 		:m_x(x),m_y(y),m_z(z)
 		//todo, remove this in release/simd ?
-		,m_unusedW(0)
+		,m_unusedW(0.f)
 		{
 		}
 

intern/moto/include/MT_Scalar.h

@@ -52,7 +52,8 @@
 #include "MT_random.h"
 #include "NM_Scalar.h"
 
-typedef double MT_Scalar;
+typedef double MT_Scalar; //this should be float !
+
 
 const MT_Scalar  MT_DEGS_PER_RAD(57.29577951308232286465);
 const MT_Scalar  MT_RADS_PER_DEG(0.01745329251994329547);

source/gameengine/Converter/KX_BlenderSceneConverter.cpp

@@ -170,7 +170,22 @@ static struct Scene *GetSceneForName2(struct Main *maggie, const STR_String& sce
 
 	return (Scene*) maggie->scene.first;
 }
+#include "KX_PythonInit.h"
 
+#ifdef USE_BULLET
+struct	BlenderDebugDraw : public PHY_IPhysicsDebugDraw
+{
+	virtual void	DrawLine(const SimdVector3& from,const SimdVector3& to,const SimdVector3& color)
+	{
+		MT_Vector3 kxfrom(from[0],from[1],from[2]);
+		MT_Vector3 kxto(to[0],to[1],to[2]);
+		MT_Vector3 kxcolor(color[0],color[1],color[2]);
+
+		KX_RasterizerDrawDebugLine(kxfrom,kxto,kxcolor);
+	}
+};
+
+#endif
 
 void KX_BlenderSceneConverter::ConvertScene(const STR_String& scenename,
 											class KX_Scene* destinationscene,
@@ -226,7 +241,9 @@ void KX_BlenderSceneConverter::ConvertScene(const STR_String& scenename,
 #ifdef USE_BULLET
 		case UseBullet:
 			{
-				destinationscene->SetPhysicsEnvironment(new CcdPhysicsEnvironment());
+				CcdPhysicsEnvironment* ccdPhysEnv = new CcdPhysicsEnvironment();
+				ccdPhysEnv->setDebugDrawer(new BlenderDebugDraw());
+				destinationscene->SetPhysicsEnvironment(ccdPhysEnv);
 				break;
 			}
 #endif

source/gameengine/GamePlayer/common/GPC_RenderTools.cpp

@@ -173,6 +173,7 @@ void GPC_RenderTools::RenderText2D(RAS_TEXT_RENDER_MODE mode,
 	int lines;
 	char* s = tmpstr.Ptr();
 	char* p;
+	
 
 	// Save and change OpenGL settings
 	int texture2D;
@@ -182,6 +183,11 @@ void GPC_RenderTools::RenderText2D(RAS_TEXT_RENDER_MODE mode,
 	glGetIntegerv(GL_FOG, (GLint*)&fog);
 	glDisable(GL_FOG);
 	
+	int light;
+	glGetIntegerv(GL_LIGHTING, (GLint*)&light);
+	glDisable(GL_LIGHTING);
+
+	
 	// Set up viewing settings
 	glMatrixMode(GL_PROJECTION);
 	glPushMatrix();
@@ -228,6 +234,10 @@ void GPC_RenderTools::RenderText2D(RAS_TEXT_RENDER_MODE mode,
 		glEnable(GL_TEXTURE_2D);
 	else
 		glDisable(GL_TEXTURE_2D);
+	if (light)
+		glEnable(GL_LIGHTING);
+	else
+		glDisable(GL_LIGHTING);
 }
 
 /**

source/gameengine/Ketsji/KX_ConvertPhysicsObject.h

@@ -35,7 +35,13 @@
 /* These are defined by the build system... */
 //#define USE_SUMO_SOLID
 //#define USE_ODE
-//#define USE_BULLET
+
+//on visual studio 8, always enable BULLET. 
+//you can have multiple physics engines running anyway, and 
+//the build system doesn't really support this at the moment.
+#if 1400 > _MSC_VER
+#define USE_BULLET
+#endif
 
 class RAS_MeshObject;
 class KX_Scene;

source/gameengine/Ketsji/KX_ConvertPhysicsObjects.cpp

@@ -854,6 +854,7 @@ static CollisionShape* CreateBulletShapeFromMesh(RAS_MeshObject* meshobj, bool p
 
 
 
+
 void	KX_ConvertBulletObject(	class	KX_GameObject* gameobj,
 	class	RAS_MeshObject* meshobj,
 	class	KX_Scene* kxscene,
@@ -864,6 +865,8 @@ void	KX_ConvertBulletObject(	class	KX_GameObject* gameobj,
 
 		CcdPhysicsEnvironment* env = (CcdPhysicsEnvironment*)kxscene->GetPhysicsEnvironment();
 	assert(env);
+
+
 	
 
 	bool dyna = false;
@@ -954,6 +957,7 @@ void	KX_ConvertBulletObject(	class	KX_GameObject* gameobj,
 				if (bm)
 				{
 					bm->CalculateLocalInertia(ci.m_mass,ci.m_localInertiaTensor);
+					bm->SetMargin(0.f);
 				}
 				break;
 			}

source/gameengine/Ketsji/KX_MeshProxy.cpp

@@ -213,5 +213,6 @@ PyObject* KX_MeshProxy::PyGetVertex(PyObject* self,
 KX_PYMETHODDEF_DOC(KX_MeshProxy, reinstancePhysicsMesh,
 "Reinstance the physics mesh.")
 {
-	return Py_Success(KX_ReInstanceShapeFromMesh(m_meshobj));
+	//this needs to be reviewed, it is dependend on Sumo/Solid. Who is using this ?
+	return Py_None;//Py_Success(KX_ReInstanceShapeFromMesh(m_meshobj));
 }

source/gameengine/Ketsji/KX_PythonInit.cpp

@@ -78,6 +78,12 @@ static RAS_ICanvas* gp_Canvas = NULL;
 static KX_Scene*	gp_KetsjiScene = NULL;
 static RAS_IRasterizer* gp_Rasterizer = NULL;
 
+void	KX_RasterizerDrawDebugLine(const MT_Vector3& from,const MT_Vector3& to,const MT_Vector3& color)
+{
+	if (gp_Rasterizer)
+		gp_Rasterizer->DrawDebugLine(from,to,color);
+}
+
 /* Macro for building the keyboard translation */
 //#define KX_MACRO_addToDict(dict, name) PyDict_SetItemString(dict, #name, PyInt_FromLong(SCA_IInputDevice::KX_##name))
 #define KX_MACRO_addToDict(dict, name) PyDict_SetItemString(dict, #name, PyInt_FromLong(name))

source/gameengine/Ketsji/KX_PythonInit.h

@@ -51,6 +51,9 @@ void		exitGamePlayerPythonScripting();
 PyObject*	initGamePythonScripting(const STR_String& progname, TPythonSecurityLevel level);
 void		exitGamePythonScripting();
 void PHY_SetActiveScene(class KX_Scene* scene);
+#include "MT_Vector3.h"
+
+void		KX_RasterizerDrawDebugLine(const MT_Vector3& from,const MT_Vector3& to,const MT_Vector3& color);
 
 #endif //__KX_PYTHON_INIT
 

source/gameengine/Ketsji/KX_SumoPhysicsController.cpp

@@ -1,3 +1,6 @@
+#include "KX_ConvertPhysicsObject.h"
+
+#ifdef USE_SUMO_SOLID
 
 #ifdef WIN32
 #pragma warning (disable : 4786)
@@ -216,3 +219,4 @@ KX_SumoPhysicsController::~KX_SumoPhysicsController()
 }
 
 
+#endif//USE_SUMO_SOLID

source/gameengine/Physics/Bullet/CcdPhysicsController.cpp

@@ -7,7 +7,7 @@
 
 class BP_Proxy;
 
-bool gEnableSleeping = true;//false;//true;
+bool gEnableSleeping = false;//false;//true;
 #include "Dynamics/MassProps.h"
 
 SimdVector3 startVel(0,0,0);//-10000);

source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.cpp

@@ -47,6 +47,43 @@ void DrawRasterizerLine(const float* from,const float* to,int color);
 
 
 
+
+static void DrawAabb(PHY_IPhysicsDebugDraw* debugDrawer,const SimdVector3& from,const SimdVector3& to,const SimdVector3& color)
+{
+	SimdVector3 halfExtents = (to-from)* 0.5f;
+	SimdVector3 center = (to+from) *0.5f;
+	int i,j;
+
+	SimdVector3 edgecoord(1.f,1.f,1.f),pa,pb;
+	for (i=0;i<4;i++)
+	{
+		for (j=0;j<3;j++)
+		{
+			pa = SimdVector3(edgecoord[0]*halfExtents[0], edgecoord[1]*halfExtents[1],		
+				edgecoord[2]*halfExtents[2]);
+			pa+=center;
+			
+			int othercoord = j%3;
+			edgecoord[othercoord]*=-1.f;
+			pb = SimdVector3(edgecoord[0]*halfExtents[0], edgecoord[1]*halfExtents[1],	
+				edgecoord[2]*halfExtents[2]);
+			pb+=center;
+			
+			debugDrawer->DrawLine(pa,pb,color);
+		}
+		edgecoord = SimdVector3(-1.f,-1.f,-1.f);
+		if (i<3)
+			edgecoord[i]*=-1.f;
+	}
+
+
+}
+
+
+
+
+
+
 CcdPhysicsEnvironment::CcdPhysicsEnvironment(ToiContactDispatcher* dispatcher,BroadphaseInterface* bp)
 :m_dispatcher(dispatcher),
 m_broadphase(bp),
@@ -402,10 +439,16 @@ bool	CcdPhysicsEnvironment::proceedDeltaTime(double curTime,float timeStep)
 				
 				SimdPoint3 minAabb,maxAabb;
 				CollisionShape* shapeinterface = ctrl->GetCollisionShape();
+
+
+
 				shapeinterface->CalculateTemporalAabb(body->getCenterOfMassTransform(),
 					body->getLinearVelocity(),body->getAngularVelocity(),
 					timeStep,minAabb,maxAabb);
 
+				shapeinterface->GetAabb(body->getCenterOfMassTransform(),
+					minAabb,maxAabb);
+
 				
 				BroadphaseProxy* bp = (BroadphaseProxy*) ctrl->m_broadphaseHandle;
 				if (bp)
@@ -414,7 +457,11 @@ bool	CcdPhysicsEnvironment::proceedDeltaTime(double curTime,float timeStep)
 #ifdef WIN32
 					SimdVector3 color (1,0,0);
 					if (m_debugDrawer)
-						m_debugDrawer->DrawLine(minAabb,maxAabb,color);
+					{	
+						//draw aabb
+
+						DrawAabb(m_debugDrawer,minAabb,maxAabb,color);
+					}
 #endif
 					scene->SetAabb(bp,minAabb,maxAabb);
 				}

source/gameengine/Rasterizer/RAS_IRasterizer.h

@@ -333,6 +333,7 @@ public:
 	 */
 	virtual void	SetPolygonOffset(float mult, float add) = 0;
 	
+	virtual	void	DrawDebugLine(const MT_Vector3& from,const MT_Vector3& to,const MT_Vector3& color)=0;
 };
 
 #endif //__RAS_IRASTERIZER

source/gameengine/Rasterizer/RAS_OpenGLRasterizer/RAS_OpenGLRasterizer.cpp

@@ -401,6 +401,21 @@ void RAS_OpenGLRasterizer::ClearCachingInfo(void)
 
 void RAS_OpenGLRasterizer::EndFrame()
 {
+	//DrawDebugLines
+	glBegin(GL_LINES);
+	for (unsigned int i=0;i<m_debugLines.size();i++)
+	{
+		glColor4f(m_debugLines[i].m_color[0],m_debugLines[i].m_color[1],m_debugLines[i].m_color[2],1.f);
+		const MT_Scalar* fromPtr = &m_debugLines[i].m_from.x();
+		const MT_Scalar* toPtr= &m_debugLines[i].m_to.x();
+
+		glVertex3dv(fromPtr);
+		glVertex3dv(toPtr);
+	}
+	glEnd();
+
+	m_debugLines.clear();
+
 	glColorMask(GL_TRUE, GL_TRUE, GL_TRUE, GL_TRUE);
 	m_2DCanvas->EndFrame();
 }	

source/gameengine/Rasterizer/RAS_OpenGLRasterizer/RAS_OpenGLRasterizer.h

@@ -44,6 +44,13 @@ using namespace std;
 #include "RAS_MaterialBucket.h"
 #include "RAS_ICanvas.h"
 
+struct	OglDebugLine
+{
+	MT_Vector3	m_from;
+	MT_Vector3	m_to;
+	MT_Vector3	m_color;
+};
+
 /**
  * 3D rendering device context.
  */
@@ -226,6 +233,17 @@ public:
 					);
 	virtual void	SetPolygonOffset(float mult, float add);
 
+	virtual	void	DrawDebugLine(const MT_Vector3& from,const MT_Vector3& to,const MT_Vector3& color)
+	{
+		OglDebugLine line;
+		line.m_from = from;
+		line.m_to = to;
+		line.m_color = color;
+		m_debugLines.push_back(line);
+	}
+
+	std::vector <OglDebugLine>	m_debugLines;
+
 };
 
 #endif //__RAS_OPENGLRASTERIZER