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BGE #18823: Loading older blend files (from the blender Gamekit 1.0 demos) that use Sumo crash on playback in 2.48.5, worked in rc3. Fixed by upgrading Sumo to support the new method of sensor synchronization introduced with Sensor objects in Bullet. Sumo demo will not crash but may still not run well as other features and methods have not been ported.

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This commit is contained in:
Benoit Bolsee 2009-06-17 08:36:37 +00:00
parent 5de1ddf96c
commit fa3cd4aadf
3 changed files with 104 additions and 4 deletions
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75
source/gameengine/Physics/Sumo/SumoPhysicsController.cpp
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@ -402,7 +402,13 @@ void SumoPhysicsController::SetSimulatedTime(float)
void SumoPhysicsController::WriteMotionStateToDynamics(bool)
{
float tmp[4];
m_MotionState->getWorldPosition(tmp[0], tmp[1], tmp[2]);
MT_Point3 pos(tmp);
m_sumoObj->setPosition(pos);
m_MotionState->getWorldOrientation(tmp[0], tmp[1], tmp[2], tmp[3]);
MT_Quaternion quat(tmp);
m_sumoObj->setOrientation(quat);
}
// this is the actual callback from sumo, and the position/orientation
//is written to the scenegraph, using the motionstate abstraction
@ -493,3 +499,70 @@ float SumoPhysicsController::GetRadius() const
return 0.f;
}
///////////////////////////////////////////////////////////
///A small utility class, SumoDefaultMotionState
///
///////////////////////////////////////////////////////////
SumoDefaultMotionState::SumoDefaultMotionState()
{
m_worldTransform.setIdentity();
m_localScaling.setValue(1.f,1.f,1.f);
}
SumoDefaultMotionState::~SumoDefaultMotionState()
{
}
void SumoDefaultMotionState::getWorldPosition(float& posX,float& posY,float& posZ)
{
posX = m_worldTransform.getOrigin().x();
posY = m_worldTransform.getOrigin().y();
posZ = m_worldTransform.getOrigin().z();
}
void SumoDefaultMotionState::getWorldScaling(float& scaleX,float& scaleY,float& scaleZ)
{
scaleX = m_localScaling.x();
scaleY = m_localScaling.y();
scaleZ = m_localScaling.z();
}
void SumoDefaultMotionState::getWorldOrientation(float& quatIma0,float& quatIma1,float& quatIma2,float& quatReal)
{
MT_Quaternion quat = m_worldTransform.getRotation();
quatIma0 = quat.x();
quatIma1 = quat.y();
quatIma2 = quat.z();
quatReal = quat.w();
}
void SumoDefaultMotionState::getWorldOrientation(float* ori)
{
m_worldTransform.getBasis().getValue(ori);
}
void SumoDefaultMotionState::setWorldOrientation(const float* ori)
{
m_worldTransform.getBasis().setValue(ori);
}
void SumoDefaultMotionState::setWorldPosition(float posX,float posY,float posZ)
{
MT_Point3 pos(posX,posY,posZ);
m_worldTransform.setOrigin( pos );
}
void SumoDefaultMotionState::setWorldOrientation(float quatIma0,float quatIma1,float quatIma2,float quatReal)
{
MT_Quaternion orn(quatIma0,quatIma1,quatIma2,quatReal);
m_worldTransform.setRotation( orn );
}
void SumoDefaultMotionState::calculateWorldTransformations()
{
}

26
source/gameengine/Physics/Sumo/SumoPhysicsController.h
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@ -30,6 +30,7 @@
#define __SUMO_PHYSICSCONTROLLER_H
#include "PHY_IPhysicsController.h"
#include "PHY_IMotionState.h"
#include "SM_Scene.h"
#include "SM_Callback.h"
@ -188,5 +189,30 @@ private:
};
///SumoDefaultMotionState implements standard motionstate, using btTransform
class SumoDefaultMotionState : public PHY_IMotionState
{
public:
SumoDefaultMotionState();
virtual ~SumoDefaultMotionState();
virtual void getWorldPosition(float& posX,float& posY,float& posZ);
virtual void getWorldScaling(float& scaleX,float& scaleY,float& scaleZ);
virtual void getWorldOrientation(float& quatIma0,float& quatIma1,float& quatIma2,float& quatReal);
virtual void setWorldPosition(float posX,float posY,float posZ);
virtual void setWorldOrientation(float quatIma0,float quatIma1,float quatIma2,float quatReal);
virtual void getWorldOrientation(float* ori);
virtual void setWorldOrientation(const float* ori);
virtual void calculateWorldTransformations();
MT_Transform m_worldTransform;
MT_Vector3 m_localScaling;
};
#endif //__SUMO_PHYSICSCONTROLLER_H

7
source/gameengine/Physics/Sumo/SumoPhysicsEnvironment.cpp
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@ -244,8 +244,8 @@ PHY_IPhysicsController* SumoPhysicsEnvironment::CreateSphereController(float rad
//testing
MT_Quaternion rotquatje(MT_Vector3(0,0,1),MT_radians(90));
ob->setOrientation(rotquatje);
PHY_IPhysicsController* ctrl = new SumoPhysicsController(m_sumoScene,ob,0,false);
PHY_IMotionState* motionState = new SumoDefaultMotionState();
PHY_IPhysicsController* ctrl = new SumoPhysicsController(m_sumoScene,ob,motionState,false);
ctrl->SetMargin(radius);
return ctrl;
}
@ -256,8 +256,9 @@ PHY_IPhysicsController* SumoPhysicsEnvironment::CreateConeController(float coner
ob->setPosition(MT_Point3(0.f,0.f,0.f));
MT_Quaternion rotquatje(MT_Vector3(0,0,1),MT_radians(90));
ob->setOrientation(rotquatje);
PHY_IMotionState* motionState = new SumoDefaultMotionState();
PHY_IPhysicsController* ctrl = new SumoPhysicsController(m_sumoScene,ob,0,false);
PHY_IPhysicsController* ctrl = new SumoPhysicsController(m_sumoScene,ob,motionState,false);
return ctrl;
}