[Bf-blender-cvs] SVN commit: /data/svn/bf-blender [16502] trunk/blender/source/gameengine: BGE patch: fix transform bug on compound shape: child shape didn' t take into account parent inverse node.

[Benoit Bolsee]

Revision: 16502
          http://projects.blender.org/plugins/scmsvn/viewcvs.php?view=rev&root=bf-blender&revision=16502
Author:   ben2610
Date:     2008-09-13 13:46:07 +0200 (Sat, 13 Sep 2008)

Log Message:
-----------
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.

Modified Paths:
--------------
    trunk/blender/source/gameengine/Ketsji/KX_ConvertPhysicsObjects.cpp
    trunk/blender/source/gameengine/Physics/Bullet/CcdPhysicsController.cpp
    trunk/blender/source/gameengine/Physics/Bullet/CcdPhysicsController.h

Modified: trunk/blender/source/gameengine/Ketsji/KX_ConvertPhysicsObjects.cpp
===================================================================
--- trunk/blender/source/gameengine/Ketsji/KX_ConvertPhysicsObjects.cpp	2008-09-13 11:43:01 UTC (rev 16501)
+++ trunk/blender/source/gameengine/Ketsji/KX_ConvertPhysicsObjects.cpp	2008-09-13 11:46:07 UTC (rev 16502)
@@ -801,11 +801,29 @@
 			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);
+			}
 
-			bm->setLocalScaling(btVector3(childScale.x(),childScale.y(),childScale.z()));
+			shapeInfo->m_childScale.setValue(childScale.x(),childScale.y(),childScale.z());
+			bm->setLocalScaling(shapeInfo->m_childScale);
+			
 			shapeInfo->m_childTrans.setOrigin(btVector3(childPos.x(),childPos.y(),childPos.z()));
 			float rotval[12];
 			childRot.getValue(rotval);

Modified: trunk/blender/source/gameengine/Physics/Bullet/CcdPhysicsController.cpp
===================================================================
--- trunk/blender/source/gameengine/Physics/Bullet/CcdPhysicsController.cpp	2008-09-13 11:43:01 UTC (rev 16501)
+++ trunk/blender/source/gameengine/Physics/Bullet/CcdPhysicsController.cpp	2008-09-13 11:46:07 UTC (rev 16502)
@@ -924,6 +924,7 @@
 				collisionShape = nextShapeInfo->CreateBulletShape();
 				if (collisionShape)
 				{
+					collisionShape->setLocalScaling(nextShapeInfo->m_childScale);
 					compoundShape->addChildShape(nextShapeInfo->m_childTrans, collisionShape);
 				}
 			}

Modified: trunk/blender/source/gameengine/Physics/Bullet/CcdPhysicsController.h
===================================================================
--- trunk/blender/source/gameengine/Physics/Bullet/CcdPhysicsController.h	2008-09-13 11:43:01 UTC (rev 16501)
+++ trunk/blender/source/gameengine/Physics/Bullet/CcdPhysicsController.h	2008-09-13 11:46:07 UTC (rev 16502)
@@ -47,6 +47,7 @@
 		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 @@
 	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