[Bf-blender-cvs] SVN commit: /data/svn/bf-blender [20952] trunk/blender/source/gameengine/ Physics/Sumo: BGE #18823: Loading older blend files ( from the blender Gamekit 1.0 demos) that use Sumo crash on playback in 2.48 .5, worked in rc3.

[Benoit Bolsee]

Revision: 20952
          http://projects.blender.org/plugins/scmsvn/viewcvs.php?view=rev&root=bf-blender&revision=20952
Author:   ben2610
Date:     2009-06-17 10:36:37 +0200 (Wed, 17 Jun 2009)

Log Message:
-----------
BGE #18823: Loading older blend files (from the blender Gamekit 1.0 demos) that use Sumo crash on playback in 2.48.5, worked in rc3. Fixed by upgrading Sumo to support the new method of sensor synchronization introduced with Sensor objects in Bullet. Sumo demo will not crash but may still not run well as other features and methods have not been ported.

Modified Paths:
--------------
    trunk/blender/source/gameengine/Physics/Sumo/SumoPhysicsController.cpp
    trunk/blender/source/gameengine/Physics/Sumo/SumoPhysicsController.h
    trunk/blender/source/gameengine/Physics/Sumo/SumoPhysicsEnvironment.cpp

Modified: trunk/blender/source/gameengine/Physics/Sumo/SumoPhysicsController.cpp
===================================================================
--- trunk/blender/source/gameengine/Physics/Sumo/SumoPhysicsController.cpp	2009-06-17 07:38:07 UTC (rev 20951)
+++ trunk/blender/source/gameengine/Physics/Sumo/SumoPhysicsController.cpp	2009-06-17 08:36:37 UTC (rev 20952)
@@ -402,7 +402,13 @@
 	
 void	SumoPhysicsController::WriteMotionStateToDynamics(bool)
 {
-
+	float tmp[4];
+	m_MotionState->getWorldPosition(tmp[0], tmp[1], tmp[2]);
+	MT_Point3 pos(tmp);
+	m_sumoObj->setPosition(pos);
+	m_MotionState->getWorldOrientation(tmp[0], tmp[1], tmp[2], tmp[3]);
+	MT_Quaternion quat(tmp);
+	m_sumoObj->setOrientation(quat);
 }
 // this is the actual callback from sumo, and the position/orientation
 //is written to the scenegraph, using the motionstate abstraction
@@ -493,3 +499,70 @@
 	return 0.f;
 
 }
+
+///////////////////////////////////////////////////////////
+///A small utility class, SumoDefaultMotionState
+///
+///////////////////////////////////////////////////////////
+
+SumoDefaultMotionState::SumoDefaultMotionState()
+{
+	m_worldTransform.setIdentity();
+	m_localScaling.setValue(1.f,1.f,1.f);
+}
+
+
+SumoDefaultMotionState::~SumoDefaultMotionState()
+{
+
+}
+
+void	SumoDefaultMotionState::getWorldPosition(float& posX,float& posY,float& posZ)
+{
+	posX = m_worldTransform.getOrigin().x();
+	posY = m_worldTransform.getOrigin().y();
+	posZ = m_worldTransform.getOrigin().z();
+}
+
+void	SumoDefaultMotionState::getWorldScaling(float& scaleX,float& scaleY,float& scaleZ)
+{
+	scaleX = m_localScaling.x();
+	scaleY = m_localScaling.y();
+	scaleZ = m_localScaling.z();
+}
+
+void	SumoDefaultMotionState::getWorldOrientation(float& quatIma0,float& quatIma1,float& quatIma2,float& quatReal)
+{
+	MT_Quaternion quat = m_worldTransform.getRotation();
+	quatIma0 = quat.x();
+	quatIma1 = quat.y();
+	quatIma2 = quat.z();
+	quatReal = quat.w();
+}
+		
+void	SumoDefaultMotionState::getWorldOrientation(float* ori)
+{
+	m_worldTransform.getBasis().getValue(ori);
+}
+
+void	SumoDefaultMotionState::setWorldOrientation(const float* ori)
+{
+	m_worldTransform.getBasis().setValue(ori);
+}
+void	SumoDefaultMotionState::setWorldPosition(float posX,float posY,float posZ)
+{
+	MT_Point3 pos(posX,posY,posZ);
+	m_worldTransform.setOrigin( pos );
+}
+
+void	SumoDefaultMotionState::setWorldOrientation(float quatIma0,float quatIma1,float quatIma2,float quatReal)
+{
+	MT_Quaternion orn(quatIma0,quatIma1,quatIma2,quatReal);
+	m_worldTransform.setRotation( orn );
+}
+		
+void	SumoDefaultMotionState::calculateWorldTransformations()
+{
+
+}
+

Modified: trunk/blender/source/gameengine/Physics/Sumo/SumoPhysicsController.h
===================================================================
--- trunk/blender/source/gameengine/Physics/Sumo/SumoPhysicsController.h	2009-06-17 07:38:07 UTC (rev 20951)
+++ trunk/blender/source/gameengine/Physics/Sumo/SumoPhysicsController.h	2009-06-17 08:36:37 UTC (rev 20952)
@@ -30,6 +30,7 @@
 #define __SUMO_PHYSICSCONTROLLER_H
 
 #include "PHY_IPhysicsController.h"
+#include "PHY_IMotionState.h"
 #include "SM_Scene.h"
 #include "SM_Callback.h"
 
@@ -188,5 +189,30 @@
 	
 };
 
+///SumoDefaultMotionState implements standard motionstate, using btTransform
+class	SumoDefaultMotionState : public PHY_IMotionState
+
+{
+	public:
+		SumoDefaultMotionState();
+
+		virtual ~SumoDefaultMotionState();
+
+		virtual void	getWorldPosition(float& posX,float& posY,float& posZ);
+		virtual void	getWorldScaling(float& scaleX,float& scaleY,float& scaleZ);
+		virtual void	getWorldOrientation(float& quatIma0,float& quatIma1,float& quatIma2,float& quatReal);
+		
+		virtual void	setWorldPosition(float posX,float posY,float posZ);
+		virtual	void	setWorldOrientation(float quatIma0,float quatIma1,float quatIma2,float quatReal);
+		virtual void	getWorldOrientation(float* ori);
+		virtual void	setWorldOrientation(const float* ori);
+		
+		virtual	void	calculateWorldTransformations();
+		
+		MT_Transform	m_worldTransform;
+		MT_Vector3		m_localScaling;
+
+};
+
 #endif //__SUMO_PHYSICSCONTROLLER_H
 

Modified: trunk/blender/source/gameengine/Physics/Sumo/SumoPhysicsEnvironment.cpp
===================================================================
--- trunk/blender/source/gameengine/Physics/Sumo/SumoPhysicsEnvironment.cpp	2009-06-17 07:38:07 UTC (rev 20951)
+++ trunk/blender/source/gameengine/Physics/Sumo/SumoPhysicsEnvironment.cpp	2009-06-17 08:36:37 UTC (rev 20952)
@@ -244,8 +244,8 @@
 	//testing
 	MT_Quaternion rotquatje(MT_Vector3(0,0,1),MT_radians(90));		
 	ob->setOrientation(rotquatje);
-
-	PHY_IPhysicsController* ctrl = new SumoPhysicsController(m_sumoScene,ob,0,false);
+	PHY_IMotionState* motionState = new SumoDefaultMotionState();
+	PHY_IPhysicsController* ctrl = new SumoPhysicsController(m_sumoScene,ob,motionState,false);
 	ctrl->SetMargin(radius);
 	return ctrl;
 }
@@ -256,8 +256,9 @@
 	ob->setPosition(MT_Point3(0.f,0.f,0.f));
 	MT_Quaternion rotquatje(MT_Vector3(0,0,1),MT_radians(90));		
 	ob->setOrientation(rotquatje);
+	PHY_IMotionState* motionState = new SumoDefaultMotionState();
 
-	PHY_IPhysicsController* ctrl = new SumoPhysicsController(m_sumoScene,ob,0,false);
+	PHY_IPhysicsController* ctrl = new SumoPhysicsController(m_sumoScene,ob,motionState,false);
 
 	return ctrl;
 }