Cr8-xyz/blender
1
0
Fork 0
Code Issues Pull Requests Actions 1 Packages Projects Releases Wiki Activity

BGE patch: fix transform bug on compound shape: child shape didn't take into account parent inverse node. Fix scaling bug on instantiation of compound shape: child shape didn't have correct shape. Note: global scaling doesn't work on compound shape (limitation of Bullet); don't set any scale on the top dynamic object.

Browse Source
This commit is contained in:
Benoit Bolsee
2008-09-13 11:46:07 +00:00
parent dfb5ebb12e
commit ba9d3aa4ab
3 changed files with 25 additions and 4 deletions
Download Patch File Download Diff File Expand all files Collapse all files

26
source/gameengine/Ketsji/KX_ConvertPhysicsObjects.cpp
View File

@@ -801,11 +801,29 @@ void KX_ConvertBulletObject( class KX_GameObject* gameobj,
assert(colShape->isCompound());
btCompoundShape* compoundShape = (btCompoundShape*)colShape;
MT_Point3 childPos = gameobj->GetSGNode()->GetLocalPosition();
MT_Matrix3x3 childRot = gameobj->GetSGNode()->GetLocalOrientation();
MT_Vector3 childScale = gameobj->GetSGNode()->GetLocalScale();
// compute the local transform from parent, this may include a parent inverse node
SG_Node* gameNode = gameobj->GetSGNode();
SG_Node* parentInverseNode = gameNode->GetSGParent();
if (parentInverseNode && parentInverseNode->GetSGClientObject() != NULL)
// this is not a parent inverse node, cancel it
parentInverseNode = NULL;
// now combine the parent inverse node and the game node
MT_Point3 childPos = gameNode->GetLocalPosition();
MT_Matrix3x3 childRot = gameNode->GetLocalOrientation();
MT_Vector3 childScale = gameNode->GetLocalScale();
if (parentInverseNode)
{
const MT_Point3& parentInversePos = parentInverseNode->GetLocalPosition();
const MT_Matrix3x3& parentInverseRot = parentInverseNode->GetLocalOrientation();
const MT_Vector3& parentInverseScale = parentInverseNode->GetLocalScale();
childRot = parentInverseRot * childRot;
childScale = parentInverseScale * childScale;
childPos = parentInversePos+parentInverseScale*(parentInverseRot*childPos);
}
shapeInfo->m_childScale.setValue(childScale.x(),childScale.y(),childScale.z());
bm->setLocalScaling(shapeInfo->m_childScale);
bm->setLocalScaling(btVector3(childScale.x(),childScale.y(),childScale.z()));
shapeInfo->m_childTrans.setOrigin(btVector3(childPos.x(),childPos.y(),childPos.z()));
float rotval[12];
childRot.getValue(rotval);

1
source/gameengine/Physics/Bullet/CcdPhysicsController.cpp
View File

@@ -924,6 +924,7 @@ btCollisionShape* CcdShapeConstructionInfo::CreateBulletShape()
collisionShape = nextShapeInfo->CreateBulletShape();
if (collisionShape)
{
collisionShape->setLocalScaling(nextShapeInfo->m_childScale);
compoundShape->addChildShape(nextShapeInfo->m_childTrans, collisionShape);
}
}

2
source/gameengine/Physics/Bullet/CcdPhysicsController.h
View File

@@ -47,6 +47,7 @@ public:
m_radius(1.0),
m_height(1.0),
m_halfExtend(0.f,0.f,0.f),
m_childScale(1.0f,1.0f,1.0f),
m_nextShape(NULL),
m_refCount(1)
{
@@ -96,6 +97,7 @@ public:
btScalar m_height;
btVector3 m_halfExtend;
btTransform m_childTrans;
btVector3 m_childScale;
std::vector<btPoint3> m_vertexArray; // Contains both vertex array for polytope shape and
// triangle array for concave mesh shape.
// In this case a triangle is made of 3 consecutive points