these files missed the cvs commt yesterday, this should fix compilation problems

source/gameengine/Converter/KX_BlenderSceneConverter.cpp

@@ -197,6 +197,12 @@ struct	BlenderDebugDraw : public IDebugDraw
 			KX_RasterizerDrawDebugLine(kxfrom,kxto,kxcolor);
 		}
 	}
+	
+	virtual void	DrawContactPoint(const SimdVector3& PointOnB,const SimdVector3& normalOnB,float distance,int lifeTime,const SimdVector3& color)
+	{
+		//not yet
+	}
+
 	virtual void	SetDebugMode(int debugMode)
 	{
 		m_debugMode = debugMode;

source/gameengine/Ketsji/KX_ConvertPhysicsObject.h

@@ -33,7 +33,7 @@
 #define KX_CONVERTPHYSICSOBJECTS
 
 /* These are defined by the build system... */
-#define USE_SUMO_SOLID
+//#define USE_SUMO_SOLID
 //#define USE_ODE
 
 //on visual studio 7/8, always enable BULLET for now 

source/gameengine/Physics/Bullet/CcdPhysicsController.cpp

@@ -7,8 +7,12 @@
 
 class BP_Proxy;
 
+///todo: fill all the empty CcdPhysicsController methods, hook them up to the RigidBody class
+
 //'temporarily' global variables
 float	gDeactivationTime = 2.f;
+bool	gDisableDeactivation = false;
+
 float gLinearSleepingTreshold = 0.8f;
 float gAngularSleepingTreshold = 1.0f;
 
@@ -116,46 +120,31 @@ void		CcdPhysicsController::RelativeTranslate(float dlocX,float dlocY,float dloc
 
 }
 
-void		CcdPhysicsController::RelativeRotate(const float rotval[12],bool local)
+void		CcdPhysicsController::RelativeRotate(const float drot[9],bool local)
 {
-	if (m_body )
-	{
-		SimdMatrix3x3 drotmat(	rotval[0],rotval[1],rotval[2],
-								rotval[4],rotval[5],rotval[6],
-								rotval[8],rotval[9],rotval[10]);
-
-
-		SimdMatrix3x3 currentOrn;
-		GetWorldOrientation(currentOrn);
-
-		SimdTransform xform = m_body->getCenterOfMassTransform();
-
-		xform.setBasis(xform.getBasis()*(local ? 
-		drotmat : (currentOrn.inverse() * drotmat * currentOrn)));
-
-		printf("hi\n");
-		m_body->setCenterOfMassTransform(xform);
-	}
-
 }
-
-
-void CcdPhysicsController::GetWorldOrientation(SimdMatrix3x3& mat)
-{
-	float orn[4];
-	m_MotionState->getWorldOrientation(orn[0],orn[1],orn[2],orn[3]);
-	SimdQuaternion quat(orn[0],orn[1],orn[2],orn[3]);
-	mat.setRotation(quat);
-}
-
 void		CcdPhysicsController::getOrientation(float &quatImag0,float &quatImag1,float &quatImag2,float &quatReal)
 {
+
 }
 void		CcdPhysicsController::setOrientation(float quatImag0,float quatImag1,float quatImag2,float quatReal)
 {
+	m_body->activate();
+
+	SimdTransform xform  = m_body->getCenterOfMassTransform();
+	xform.setRotation(SimdQuaternion(quatImag0,quatImag1,quatImag2,quatReal));
+	m_body->setCenterOfMassTransform(xform);
+
 }
+
 void		CcdPhysicsController::setPosition(float posX,float posY,float posZ)
 {
+	m_body->activate();
+
+	SimdTransform xform  = m_body->getCenterOfMassTransform();
+	xform.setOrigin(SimdVector3(posX,posY,posZ));
+	m_body->setCenterOfMassTransform(xform);
+
 }
 void		CcdPhysicsController::resolveCombinedVelocities(float linvelX,float linvelY,float linvelZ,float angVelX,float angVelY,float angVelZ)
 {
@@ -196,9 +185,7 @@ void		CcdPhysicsController::applyImpulse(float attachX,float attachY,float attac
 	SimdVector3 impulse(impulseX,impulseY,impulseZ);
 	SimdVector3 pos(attachX,attachY,attachZ);
 
-	//it might be sleeping... wake up !
+	m_body->activate();
-	m_body->SetActivationState(1);
-	m_body->m_deactivationTime = 0.f;
 
 	m_body->applyImpulse(impulse,pos);
 
@@ -255,7 +242,7 @@ bool CcdPhysicsController::wantsSleeping()
 {
 
 	//disable deactivation
-	if (gDeactivationTime == 0.f)
+	if (gDisableDeactivation || (gDeactivationTime == 0.f))
 		return false;
 	//2 == ISLAND_SLEEPING, 3 == WANTS_DEACTIVATION
 	if ( (m_body->GetActivationState() == 2) || (m_body->GetActivationState() == 3))

source/gameengine/Physics/Bullet/CcdPhysicsController.h

@@ -8,13 +8,12 @@
 ///	It contains the IMotionState and IDeformableMesh Interfaces.
 #include "SimdVector3.h"
 #include "SimdScalar.h"	
-#include "SimdMatrix3x3.h"
-
 class CollisionShape;
 
 extern float gDeactivationTime;
 extern float gLinearSleepingTreshold;
 extern float gAngularSleepingTreshold;
+extern bool gDisableDeactivation;
 
 
 struct CcdConstructionInfo
@@ -89,7 +88,7 @@ class CcdPhysicsController : public PHY_IPhysicsController
 
 		// kinematic methods
 		virtual void		RelativeTranslate(float dlocX,float dlocY,float dlocZ,bool local);
-		virtual void		RelativeRotate(const float rotval[12],bool local);
+		virtual void		RelativeRotate(const float drot[9],bool local);
 		virtual	void		getOrientation(float &quatImag0,float &quatImag1,float &quatImag2,float &quatReal);
 		virtual	void		setOrientation(float quatImag0,float quatImag1,float quatImag2,float quatReal);
 		virtual	void		setPosition(float posX,float posY,float posZ);
@@ -132,8 +131,6 @@ class CcdPhysicsController : public PHY_IPhysicsController
 
 		void	SetAabb(const SimdVector3& aabbMin,const SimdVector3& aabbMax);
 
-		void GetWorldOrientation(SimdMatrix3x3& mat);
-
 
 };
 

source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.cpp

@@ -301,11 +301,17 @@ bool	CcdPhysicsEnvironment::proceedDeltaTime(double curTime,float timeStep)
 {
 	
 	
+//	printf("CcdPhysicsEnvironment::proceedDeltaTime\n");
 	
 	if (timeStep == 0.f)
 		return true;
 
-	printf("CcdPhysicsEnvironment::proceedDeltaTime\n");
+	if (m_debugDrawer)
+	{
+		gDisableDeactivation = (m_debugDrawer->GetDebugMode() & IDebugDraw::DBG_NoDeactivation);
+	}
+
+
 
 	//clamp hardcoded for now
 	if (timeStep > 0.02)
@@ -314,8 +320,8 @@ bool	CcdPhysicsEnvironment::proceedDeltaTime(double curTime,float timeStep)
 	//this is needed because scaling is not known in advance, and scaling has to propagate to the shape
 	if (!m_scalingPropagated)
 	{
-		SyncMotionStates(timeStep);
+		//SyncMotionStates(timeStep);
-		m_scalingPropagated = true;
+		//m_scalingPropagated = true;
 	}
 
 
@@ -436,17 +442,17 @@ bool	CcdPhysicsEnvironment::proceedDeltaTime(double curTime,float timeStep)
 				shapeinterface->GetAabb(body->getCenterOfMassTransform(),
 					minAabb,maxAabb);
 
+				SimdVector3 manifoldExtraExtents(gContactBreakingTreshold,gContactBreakingTreshold,gContactBreakingTreshold);
+				minAabb -= manifoldExtraExtents;
+				maxAabb += manifoldExtraExtents;
 				
 				BroadphaseProxy* bp = (BroadphaseProxy*) ctrl->m_broadphaseHandle;
 				if (bp)
 				{
 					
 #ifdef WIN32
-					SimdVector3 color (1,0,0);
+					SimdVector3 color (1,1,0);
 					
-				
-
-				
 					if (m_debugDrawer)
 					{	
 						//draw aabb
@@ -454,7 +460,7 @@ bool	CcdPhysicsEnvironment::proceedDeltaTime(double curTime,float timeStep)
 						{
 						case ISLAND_SLEEPING:
 							{
-								color.setValue(0,1,0);
+								color.setValue(1,1,1);
 								break;
 							}
 						case WANTS_DEACTIVATION:
@@ -466,11 +472,13 @@ bool	CcdPhysicsEnvironment::proceedDeltaTime(double curTime,float timeStep)
 							{
 								break;
 							}
-
 							
 						};
 
-						DrawAabb(m_debugDrawer,minAabb,maxAabb,color);
+						if (m_debugDrawer->GetDebugMode() & IDebugDraw::DBG_DrawAabb)
+						{
+							DrawAabb(m_debugDrawer,minAabb,maxAabb,color);
+						}
 					}
 #endif
 
@@ -709,7 +717,89 @@ void		CcdPhysicsEnvironment::setGravity(float x,float y,float z)
 	}
 }
 
+#ifdef DASHDASJKHASDJK
+class RaycastingQueryBox : public QueryBox
+{
+	
+	SimdVector3 m_aabbMin;
+	
+	SimdVector3 m_aabbMax;
+	
+	
+	
+public:
+	
+	RaycastCallback	m_raycastCallback;
+	
+	
+	RaycastingQueryBox(QueryBoxConstructionInfo& ci,const SimdVector3& from,const SimdVector3& to)
+		: QueryBox(ci),
+		m_raycastCallback(from,to)
+	{
+		for (int i=0;i<3;i++)
+		{
+			float fromI = from[i];
+			float toI = to[i];
+			if (fromI < toI)
+			{
+				m_aabbMin[i] = fromI;
+				m_aabbMax[i] = toI;
+			} else
+			{
+				m_aabbMin[i] = toI;
+				m_aabbMax[i] = fromI;
+			}
+		}
+		
+	}
+	virtual void AddCollider( BroadphaseProxy* proxy)
+	{
+		//perform raycast if wanted, and update the m_hitFraction
+		
+		if (proxy->GetClientObjectType() == TRIANGLE_MESH_SHAPE_PROXYTYPE)
+		{
+			//do it
+			RigidBody* body = (RigidBody*)proxy->m_clientObject;
+			TriangleMeshInterface* meshInterface = (TriangleMeshInterface*)
+				body->m_minkowski1;
+			
+			//if the hit is closer, record the proxy!
+			float curFraction = m_raycastCallback.m_hitFraction;
+			
+			meshInterface->ProcessAllTriangles(&m_raycastCallback,m_aabbMin,m_aabbMax);
+			
+			if (m_raycastCallback.m_hitFraction < curFraction)
+			{
+				m_raycastCallback.m_hitProxy = proxy;
+			}
+			
+		}
+		
+	}
+};
 
+struct InternalVehicleRaycaster : public VehicleRaycaster
+{
+	
+	CcdPhysicsEnvironment* m_env;
+	
+public:
+	
+	InternalVehicleRaycaster(CcdPhysicsEnvironment* env)
+		:	m_env(env)
+	{
+		
+	}
+	
+	virtual void* CastRay(const SimdVector3& from,const SimdVector3& to, VehicleRaycasterResult& result)
+	{
+
+		return 0;
+	}
+	
+};
+
+#endif 
 int			CcdPhysicsEnvironment::createConstraint(class PHY_IPhysicsController* ctrl0,class PHY_IPhysicsController* ctrl1,PHY_ConstraintType type,
 														float pivotX,float pivotY,float pivotZ,
 														float axisX,float axisY,float axisZ)
@@ -775,12 +865,10 @@ void		CcdPhysicsEnvironment::removeConstraint(int constraintid)
 	}
 	
 }
-
 PHY_IPhysicsController* CcdPhysicsEnvironment::rayTest(PHY_IPhysicsController* ignoreClient, float fromX,float fromY,float fromZ, float toX,float toY,float toZ, 
 								float& hitX,float& hitY,float& hitZ,float& normalX,float& normalY,float& normalZ)
 {
 
-	printf("raytest\n");
 	int minFraction = 1.f;
 
 	SimdTransform	rayFromTrans,rayToTrans;
@@ -800,17 +888,13 @@ PHY_IPhysicsController* CcdPhysicsEnvironment::rayTest(PHY_IPhysicsController* i
 	for (i=m_controllers.begin();
 	!(i==m_controllers.end()); i++)
 	{
-
 		CcdPhysicsController* ctrl = (*i);
-		if (ctrl == ignoreClient)
-			continue;
-
 		RigidBody* body = ctrl->GetRigidBody();
 
 		if (body->GetCollisionShape()->IsConvex())
 		{
 			ConvexCast::CastResult rayResult;
-			rayResult.m_fraction = minFraction;
+			rayResult.m_fraction = 1.f;
 
 			ConvexShape* convexShape = (ConvexShape*) body->GetCollisionShape();
 			VoronoiSimplexSolver	simplexSolver;
@@ -831,41 +915,6 @@ PHY_IPhysicsController* CcdPhysicsEnvironment::rayTest(PHY_IPhysicsController* i
 					hitZ = rayResult.m_hitTransformA.getOrigin().getZ();
 				}
 			}
-		} else
-		{
-			if (body->GetCollisionShape()->IsConcave())
-			{
-				TriangleMeshShape* triangleMesh = (TriangleMeshShape*)body->GetCollisionShape();
-				
-				SimdTransform worldToBody = body->getCenterOfMassTransform().inverse();
-
-				SimdVector3 rayFromLocal = worldToBody * rayFromTrans.getOrigin();
-				SimdVector3 rayToLocal = worldToBody * rayToTrans.getOrigin();
-
-				RaycastCallback	rcb(rayFromLocal,rayToLocal);
-				rcb.m_hitFraction = minFraction;
-
-				SimdVector3 aabbMax(1e30f,1e30f,1e30f);
-
-				triangleMesh->ProcessAllTriangles(&rcb,-aabbMax,aabbMax);
-				if (rcb.m_hitFound && (rcb.m_hitFraction < minFraction))
-				{
-					printf("hit %f\n",rcb.m_hitFraction);
-					nearestHit = ctrl;
-					minFraction = rcb.m_hitFraction;
-					SimdVector3 hitNormalWorld = body->getCenterOfMassTransform()(rcb.m_hitNormalLocal);
-
-					normalX = hitNormalWorld.getX();
-					normalY = hitNormalWorld.getY();
-					normalZ = hitNormalWorld.getZ();
-					SimdVector3 hitWorld;
-					hitWorld.setInterpolate3(rayFromTrans.getOrigin(),rayToTrans.getOrigin(),rcb.m_hitFraction);
-					hitX = hitWorld.getX();
-					hitY = hitWorld.getY();
-					hitZ = hitWorld.getZ();
-					
-				}
-			}
 		}
 	}