The Bullet 2.82 update uses a different method for ray casting that
seems incompatible with our older files. So, for now we just force the
vehicle physics to use the older ray casting method.
I'm not sure why this function ever increased the object's refcount. Any
place in the code that calls KX_GameObject::GetParent() has to turn
around and call parent->Release(). Forgetting to call Release() was a
common cause of memory leaks (in fact, KX_SteeringActuator was probably
leaking). If the refcount needs to be increased, the calling code can
handle calling AddRef().
* Moving the BlenderDebugDraw (derived from btIDebugDraw) from
KX_BlenderSceneConverter to CcdPhysicsEnvironment
* Moving CcdPhysicsEnvironment initialization to CcdPhysicsEnvironment
(this could probably be cleaned up some more with some sort of
factory, or at least moving code to CcdPhysicsEnvironment's
constructor)
* Simplifying physics environment initialization (went from two
switches to one)
The vehicle constraint is now properly removed if bge.constraints.removeConstraint()
is used or the object is deleted. This also fixes a memory leak with the
vehicle wrapper.
This is a squashed commit of the following:
BGE Physics Cleanup: Fix crashes with LibLoading and replication. Also fixing some memory leaks.
BGE Physics Cleanup: Removing KX_IPhysicsController and KX_BulletPhysicsController.
BGE Physics Cleanup: Moving the replication code outside of KX_BlenderBulletController and switching KX_ConvertPhysicsObjects to create a CcdPhysicsController instead of a KX_BlenderBulletController.
BGE Physics Cleanup: Getting rid of an unsued KX_BulletPhysicsController.h include in KX_Scene.cpp.
BGE Physics Cleanup: Removing unused KX_IPhysicsController and KX_BulletPhysicsController includes.
BGE Physics Cleanup: Removing m_pPhysicsController1 and GetPhysicsController1() from KX_GameObject.
BGE Physics Cleanup: Remove SetRigidBody() from KX_IPhysicsController and remove GetName() from CcdPhysicsController.
BGE Physics Cleanup: Moving Add/RemoveCompoundChild() from KX_IPhysicsController to PHY_IPhysicsController.
BGE Physics Cleanup: Removing GetLocalInertia() from KX_IPhysicsController.
BGE Physics Cleanup: Making BlenderBulletCharacterController derive from PHY_ICharacter and removing CharacterWrapper from CcdPhysicsEnvironment.cpp. Also removing the character functions from KX_IPhysicsController.
BGE Physics Cleanup: Removing GetOrientation(), SetOrientation(), SetPosition(), SetScaling(), and GetRadius() from KX_IPhysicsController.
BGE Physics Cleanup: Removing GetReactionForce() since all implementations returned (0, 0, 0). The Python interface for KX_GameObject still has reaction force code, but it still also returns (0, 0, 0). This can probably be removed as well, but removing it can break scripts, so I'll leave it for now.
BGE Physics Cleanup: Removing Get/SetLinVelocityMin() and Get/SetLinVelocityMax() from KX_IPhysicsController.
BGE Physics Cleanup: Removing SetMargin(), RelativeTranslate(), and RelativeRotate() from KX_IPhysicsController.
BGE Physics Cleanup: Using constant references for function arguments in PHY_IPhysicsController where appropriate.
BGE Physics Cleanup: Removing ApplyImpulse() from KX_IPhysicsController.
BGE Physics Cleanup: Removing ResolveCombinedVelocities() from KX_IPhysicsController.
BGE Physics Cleanup: Accidently removed a return when cleaning up KX_GameObject::PyGetVelocity().
BGE Physics Cleanup: Remove GetLinearVelocity(), GetAngularVelocity() and GetVelocity() from KX_IPhysicsController. The corresponding PHY_IPhysicsController functions now also take Moto types instead of scalars to match the KX_IPhysicsController interface.
BGE Physics Cleanup: Moving SuspendDynamics, RestoreDynamics, SetMass, GetMass, and SetTransform from KX_IPhysicsController to PHY_IPhysicsController.
BGE Physics Cleanup: PHY_IPhysicsEnvironment and derived classes now use the same naming scheme as PHY_IController.
BGE Physics Cleanup: PHY_IMotionState and derived classes now use the same naming convention as PHY_IController.
BGE Phsyics Cleanup: Making PHY_IController and its derived classes follow a consistent naming scheme for member functions. They now all start with capital letters (e.g., setWorldOrientation becomes SetWorldOrientation).
BGE Physics Cleanup: Getting rid of KX_GameObject::SuspendDynamics() and KX_GameObject::RestoreDynamics(). Instead, use the functions from the physics controller.
BGE: Some first steps in trying to cleanup the KX_IPhysicsController mess. KX_GameObject now has a GetPhysicsController() and a GetPhysicsController1(). The former returns a PHY_IPhysicsController* while the latter returns a KX_IPhysicsController. The goal is to get everything using GetPhysicsController() instead of GetPhysicsController1().
Blender's old default of 1 was too small here.
Now we don't override the default.
If it's really needed to use a smaller value here, the property should
be first exposed in the ui, but don't think this is necessary.
Fixes [#35076] Dynamic objects have periodic glitch in velocity when on an incline
Apply patches in patches directory, remove patches that were applied
upstream.
If you made changes without adding a patch, please check.
Fixes [#32233] exporting bullet format results in corrupt files.
This reverts part of r53019.
While the compound shape trick works well in some cases, overall it's
much slower and even causes crashes under certain conditions.
We could make this and option and fix the crashes, but it's better to
implement convex decomposition anyway so just reverting for now.
Fixes [#34353] Ray cast on Triangle mesh bounded Rigid Body Object causes blender crash to desktop without error.
* Undoing the previous applyMovement() changes for characters. This was causing bugs for the Motion Actuator.
* Creating a Character Motion type for the Motion Actuator with specific controls for characters. This includes moving, rotating and jumping.
* Adding a KX_CharacterWrapper.walkDirection to set the character's direction and speed.
Note, this also resolves the following bugs:
[#33585] "Setting dLoc of motion actuator [0,0,0] via python won't stop object" reported by Manuel Bellersen (urfoex)
[#33503] "Character physics type won´t accept more than one motion anymore" reported by Mr Larodos
Note: this doesn't work yet for everything with latest stable bullet (2.81), need to look into why and likely apply some patches upstream.
However I managed to link blender by disabling some features, likely it can be made to work without too much trouble.
This commit is an attempt to improve collisions between moving Bullet rigid bodies using (concave) triangle mesh bounds.
Instead of using Gimpact, this we create a btCompoundShape with child shape tetrahedra derived from the surface triangles.
For each triangle, we add a fourth vertex using the centroid, shifting inwards using the triangle normal.
If the centroid hits an internal triangle, we stop. The default depth could be exposed as 'advanced' setting in the user interface.
This solution will be a slower than the original/gimpact solution, but a bit more reliable.
In the future, it is better to add HACD, convex decomposition to Blender, for moving concave meshes.
See http://kmamou.blogspot.com and the Bullet SDK's Demos/ConvexDecompositionDemo.
* jump() -- causes the character to jump
* onGround -- specifies whether or not the character is on the ground
* gravity -- controls the "gravity" that the character physics uses for the character
More options could be added (such as jump speed, step height, make fall speed, max slope, etc).
