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BGE bug #17408 fixed: Radar sensor is oriented the wrong way when the set along negative axis. Improve reliability of Radar detection by clearing the manifold cache instead of updating it.

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This commit is contained in:
Benoit Bolsee
2008-08-07 17:29:06 +00:00
parent c25bb4685a
commit 36ef95eff5
2 changed files with 16 additions and 16 deletions
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14
source/gameengine/Ketsji/KX_RadarSensor.cpp
View File

@@ -147,23 +147,23 @@ void KX_RadarSensor::SynchronizeTransform()
};
case 3: // -X Axis
{
MT_Quaternion rotquatje(MT_Vector3(0,0,1),MT_radians(90));
MT_Quaternion rotquatje(MT_Vector3(0,0,1),MT_radians(-90));
trans.rotate(rotquatje);
trans.translate(MT_Vector3 (0, m_coneheight/2.0 ,0));
trans.translate(MT_Vector3 (0, -m_coneheight/2.0 ,0));
break;
};
case 4: // -Y Axis
{
MT_Quaternion rotquatje(MT_Vector3(1,0,0),MT_radians(-180));
trans.rotate(rotquatje);
trans.translate(MT_Vector3 (0, m_coneheight/2.0 ,0));
//MT_Quaternion rotquatje(MT_Vector3(1,0,0),MT_radians(-180));
//trans.rotate(rotquatje);
trans.translate(MT_Vector3 (0, -m_coneheight/2.0 ,0));
break;
};
case 5: // -Z Axis
{
MT_Quaternion rotquatje(MT_Vector3(1,0,0),MT_radians(-90));
MT_Quaternion rotquatje(MT_Vector3(1,0,0),MT_radians(90));
trans.rotate(rotquatje);
trans.translate(MT_Vector3 (0, m_coneheight/2.0 ,0));
trans.translate(MT_Vector3 (0, -m_coneheight/2.0 ,0));
break;
};
default:

18
source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.cpp
View File

@@ -966,15 +966,6 @@ void CcdPhysicsEnvironment::CallbackTriggers()
{
btRigidBody* rb0 = static_cast<btRigidBody*>(manifold->getBody0());
btRigidBody* rb1 = static_cast<btRigidBody*>(manifold->getBody1());
// Bullet does not refresh the manifold contact point for object without contact response
// may need to remove this when a newer Bullet version is integrated
if (!dispatcher->needsResponse(rb0, rb1))
{
manifold->refreshContactPoints(rb0->getCenterOfMassTransform(),rb1->getCenterOfMassTransform());
numContacts = manifold->getNumContacts();
if (!numContacts)
continue;
}
if (m_debugDrawer && (m_debugDrawer->getDebugMode() & btIDebugDraw::DBG_DrawContactPoints))
{
for (int j=0;j<numContacts;j++)
@@ -1003,6 +994,15 @@ void CcdPhysicsEnvironment::CallbackTriggers()
m_triggerCallbacks[PHY_OBJECT_RESPONSE](m_triggerCallbacksUserPtrs[PHY_OBJECT_RESPONSE],
ctrl0,ctrl1,0);
}
// Bullet does not refresh the manifold contact point for object without contact response
// may need to remove this when a newer Bullet version is integrated
if (!dispatcher->needsResponse(rb0, rb1))
{
// Refresh algorithm fails sometimes when there is penetration
// (usuall the case with ghost and sensor objects)
// Let's just clear the manifold, in any case, it is recomputed on each frame.
manifold->clearManifold(); //refreshContactPoints(rb0->getCenterOfMassTransform(),rb1->getCenterOfMassTransform());
}
}
}