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avoid crash and apply force for soft bodies.

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copy normals for soft body vertices, to get proper lighting
This commit is contained in:
Erwin Coumans
2008-09-25 17:53:15 +00:00
parent 27098d3aa0
commit 9c08e86b06
3 changed files with 44 additions and 19 deletions
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25
source/gameengine/Ketsji/KX_BulletPhysicsController.cpp
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@@ -14,6 +14,7 @@
#include "PHY_IPhysicsEnvironment.h"
#include "CcdPhysicsEnvironment.h"
#include "BulletSoftBody/btSoftBody.h"
KX_BulletPhysicsController::KX_BulletPhysicsController (const CcdConstructionInfo& ci, bool dyna)
@@ -148,8 +149,12 @@ void KX_BulletPhysicsController::setScaling(const MT_Vector3& scaling)
}
MT_Scalar KX_BulletPhysicsController::GetMass()
{
MT_Scalar invmass = GetRigidBody()->getInvMass();
if (GetSoftBody())
return GetSoftBody()->getTotalMass();
MT_Scalar invmass = 0.f;
if (GetRigidBody())
invmass = GetRigidBody()->getInvMass();
if (invmass)
return 1.f/invmass;
return 0.f;
@@ -167,7 +172,7 @@ void KX_BulletPhysicsController::setRigidBody(bool rigid)
void KX_BulletPhysicsController::SuspendDynamics(bool ghost)
{
btRigidBody *body = GetRigidBody();
if (body->getActivationState() != DISABLE_SIMULATION)
if (body && body->getActivationState() != DISABLE_SIMULATION)
{
btBroadphaseProxy* handle = body->getBroadphaseHandle();
m_savedCollisionFlags = body->getCollisionFlags();
@@ -186,7 +191,7 @@ void KX_BulletPhysicsController::SuspendDynamics(bool ghost)
void KX_BulletPhysicsController::RestoreDynamics()
{
btRigidBody *body = GetRigidBody();
if (body->getActivationState() == DISABLE_SIMULATION)
if (body && body->getActivationState() == DISABLE_SIMULATION)
{
GetPhysicsEnvironment()->updateCcdPhysicsController(this,
m_savedMass,
@@ -241,18 +246,22 @@ SG_Controller* KX_BulletPhysicsController::GetReplica(class SG_Node* destnode)
void KX_BulletPhysicsController::SetSumoTransform(bool nondynaonly)
{
GetRigidBody()->activate(true);
if (GetRigidBody())
GetRigidBody()->activate(true);
if (!m_bDyna)
{
GetRigidBody()->setCollisionFlags(GetRigidBody()->getCollisionFlags() | btCollisionObject::CF_KINEMATIC_OBJECT);
GetCollisionObject()->setCollisionFlags(GetRigidBody()->getCollisionFlags() | btCollisionObject::CF_KINEMATIC_OBJECT);
} else
{
if (!nondynaonly)
{
btTransform worldTrans;
GetRigidBody()->getMotionState()->getWorldTransform(worldTrans);
GetRigidBody()->setCenterOfMassTransform(worldTrans);
if (GetRigidBody())
{
GetRigidBody()->getMotionState()->getWorldTransform(worldTrans);
GetRigidBody()->setCenterOfMassTransform(worldTrans);
}
/*
scaling?

7
source/gameengine/Ketsji/KX_ConvertPhysicsObjects.cpp
View File

@@ -727,6 +727,13 @@ void KX_ConvertODEEngineObject(KX_GameObject* gameobj,
nodes[v.getSoftBodyIndex()].m_x.getY(),
nodes[v.getSoftBodyIndex()].m_x.getZ());
v.SetXYZ(pt);
MT_Vector3 normal (
nodes[v.getSoftBodyIndex()].m_n.getX(),
nodes[v.getSoftBodyIndex()].m_n.getY(),
nodes[v.getSoftBodyIndex()].m_n.getZ());
v.SetNormal(normal);
}
}
return true;

31
source/gameengine/Physics/Bullet/CcdPhysicsController.cpp
View File

@@ -862,15 +862,20 @@ void CcdPhysicsController::ApplyForce(float forceX,float forceY,float forceZ,bo
m_object->setCollisionFlags(m_object->getCollisionFlags() | btCollisionObject::CF_KINEMATIC_OBJECT);
}
btRigidBody* body = GetRigidBody();
if (body)
{
btTransform xform = body->getCenterOfMassTransform();
btTransform xform = m_object->getWorldTransform();
if (local)
{
force = xform.getBasis()*force;
}
body->applyCentralForce(force);
btRigidBody* body = GetRigidBody();
if (body)
body->applyCentralForce(force);
btSoftBody* soft = GetSoftBody();
if (soft)
soft->addForce(force);
}
}
}
@@ -884,15 +889,16 @@ void CcdPhysicsController::SetAngularVelocity(float ang_velX,float ang_velY,flo
{
m_object->setCollisionFlags(m_object->getCollisionFlags() | btCollisionObject::CF_KINEMATIC_OBJECT);
}
btRigidBody* body = GetRigidBody();
if (body)
{
btTransform xform = body->getCenterOfMassTransform();
btTransform xform = m_object->getWorldTransform();
if (local)
{
angvel = xform.getBasis()*angvel;
}
body->setAngularVelocity(angvel);
btRigidBody* body = GetRigidBody();
if (body)
body->setAngularVelocity(angvel);
}
}
@@ -908,15 +914,17 @@ void CcdPhysicsController::SetLinearVelocity(float lin_velX,float lin_velY,floa
{
m_object->setCollisionFlags(m_object->getCollisionFlags() | btCollisionObject::CF_KINEMATIC_OBJECT);
}
btRigidBody* body = GetRigidBody();
if (body)
{
btTransform xform = m_object->getWorldTransform();
if (local)
{
linVel = xform.getBasis()*linVel;
}
body->setLinearVelocity(linVel);
btRigidBody* body = GetRigidBody();
if (body)
body->setLinearVelocity(linVel);
}
}
}
@@ -936,6 +944,7 @@ void CcdPhysicsController::applyImpulse(float attachX,float attachY,float attac
btRigidBody* body = GetRigidBody();
if (body)
body->applyImpulse(impulse,pos);
}
}