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Merge from trunk: 15912:16031

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This commit is contained in:
Ian Thompson
2008-08-09 10:12:59 +00:00
parent d7f64d43dd
commit ed972db1a3
76 changed files with 3666 additions and 1559 deletions
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42
source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.cpp
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@@ -439,6 +439,9 @@ void CcdPhysicsEnvironment::removeCcdPhysicsController(CcdPhysicsController* ctr
m_dynamicsWorld->removeRigidBody(ctrl->GetRigidBody());
m_controllers.erase(ctrl);
if (ctrl->m_registerCount != 0)
printf("Warning: removing controller with non-zero m_registerCount: %d\n", ctrl->m_registerCount);
//remove it from the triggers
m_triggerControllers.erase(ctrl);
}
@@ -473,6 +476,13 @@ void CcdPhysicsEnvironment::enableCcdPhysicsController(CcdPhysicsController* ctr
}
}
void CcdPhysicsEnvironment::disableCcdPhysicsController(CcdPhysicsController* ctrl)
{
if (m_controllers.erase(ctrl))
{
m_dynamicsWorld->removeRigidBody(ctrl->GetRigidBody());
}
}
void CcdPhysicsEnvironment::beginFrame()
@@ -885,13 +895,17 @@ void CcdPhysicsEnvironment::addSensor(PHY_IPhysicsController* ctrl)
void CcdPhysicsEnvironment::removeCollisionCallback(PHY_IPhysicsController* ctrl)
{
m_triggerControllers.erase((CcdPhysicsController*)ctrl);
CcdPhysicsController* ccdCtrl = (CcdPhysicsController*)ctrl;
if (ccdCtrl->Unregister())
m_triggerControllers.erase(ccdCtrl);
}
void CcdPhysicsEnvironment::removeSensor(PHY_IPhysicsController* ctrl)
{
removeCcdPhysicsController((CcdPhysicsController*)ctrl);
removeCollisionCallback(ctrl);
disableCcdPhysicsController((CcdPhysicsController*)ctrl);
}
void CcdPhysicsEnvironment::addTouchCallback(int response_class, PHY_ResponseCallback callback, void *user)
@@ -930,8 +944,8 @@ void CcdPhysicsEnvironment::requestCollisionCallback(PHY_IPhysicsController* ctr
{
CcdPhysicsController* ccdCtrl = static_cast<CcdPhysicsController*>(ctrl);
//printf("requestCollisionCallback\n");
m_triggerControllers.insert(ccdCtrl);
if (ccdCtrl->Register())
m_triggerControllers.insert(ccdCtrl);
}
void CcdPhysicsEnvironment::CallbackTriggers()
@@ -942,13 +956,16 @@ void CcdPhysicsEnvironment::CallbackTriggers()
if (m_triggerCallbacks[PHY_OBJECT_RESPONSE] || (m_debugDrawer && (m_debugDrawer->getDebugMode() & btIDebugDraw::DBG_DrawContactPoints)))
{
//walk over all overlapping pairs, and if one of the involved bodies is registered for trigger callback, perform callback
int numManifolds = m_dynamicsWorld->getDispatcher()->getNumManifolds();
btDispatcher* dispatcher = m_dynamicsWorld->getDispatcher();
int numManifolds = dispatcher->getNumManifolds();
for (int i=0;i<numManifolds;i++)
{
btPersistentManifold* manifold = m_dynamicsWorld->getDispatcher()->getManifoldByIndexInternal(i);
btPersistentManifold* manifold = dispatcher->getManifoldByIndexInternal(i);
int numContacts = manifold->getNumContacts();
if (numContacts)
{
btRigidBody* rb0 = static_cast<btRigidBody*>(manifold->getBody0());
btRigidBody* rb1 = static_cast<btRigidBody*>(manifold->getBody1());
if (m_debugDrawer && (m_debugDrawer->getDebugMode() & btIDebugDraw::DBG_DrawContactPoints))
{
for (int j=0;j<numContacts;j++)
@@ -959,8 +976,8 @@ void CcdPhysicsEnvironment::CallbackTriggers()
m_debugDrawer->drawContactPoint(cp.m_positionWorldOnB,cp.m_normalWorldOnB,cp.getDistance(),cp.getLifeTime(),color);
}
}
btRigidBody* obj0 = static_cast<btRigidBody* >(manifold->getBody0());
btRigidBody* obj1 = static_cast<btRigidBody* >(manifold->getBody1());
btRigidBody* obj0 = rb0;
btRigidBody* obj1 = rb1;
//m_internalOwner is set in 'addPhysicsController'
CcdPhysicsController* ctrl0 = static_cast<CcdPhysicsController*>(obj0->getUserPointer());
@@ -977,6 +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());
}
}
}