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BGE: Fix T42437: Physics/Compound bug 

Null check to verify that parent has a character controller. Otherwise (i.e empty) it will crash.

Reviewers: moguri, campbellbarton

Reviewed By: campbellbarton

Differential Revision: https://developer.blender.org/D1115
This commit is contained in:
Jorge Bernal 2015-02-18 19:59:21 +01:00
parent 9bd2a7c0a8
commit 4ed8b70870
Notes: blender-bot 2023-02-14 09:52:59 +01:00 
Referenced by issue #42437, Physics/Compound Bug
1 changed files with 40 additions and 36 deletions
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76
source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.cpp
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@ -3358,46 +3358,50 @@ void CcdPhysicsEnvironment::ConvertObject(KX_GameObject *gameobj, RAS_MeshObject
//take relative transform into account!
CcdPhysicsController* parentCtrl = (CcdPhysicsController*)parent->GetPhysicsController();
assert(parentCtrl);
CcdShapeConstructionInfo* parentShapeInfo = parentCtrl->GetShapeInfo();
btRigidBody* rigidbody = parentCtrl->GetRigidBody();
btCollisionShape* colShape = rigidbody->getCollisionShape();
assert(colShape->isCompound());
btCompoundShape* compoundShape = (btCompoundShape*)colShape;
// compute the local transform from parent, this may include several node in the chain
SG_Node* gameNode = gameobj->GetSGNode();
SG_Node* parentNode = parent->GetSGNode();
// relative transform
MT_Vector3 parentScale = parentNode->GetWorldScaling();
parentScale[0] = MT_Scalar(1.0)/parentScale[0];
parentScale[1] = MT_Scalar(1.0)/parentScale[1];
parentScale[2] = MT_Scalar(1.0)/parentScale[2];
MT_Vector3 relativeScale = gameNode->GetWorldScaling() * parentScale;
MT_Matrix3x3 parentInvRot = parentNode->GetWorldOrientation().transposed();
MT_Vector3 relativePos = parentInvRot*((gameNode->GetWorldPosition()-parentNode->GetWorldPosition())*parentScale);
MT_Matrix3x3 relativeRot = parentInvRot*gameNode->GetWorldOrientation();
// only makes compound shape if parent has a physics controller (i.e not an empty, etc)
if (parentCtrl) {
CcdShapeConstructionInfo* parentShapeInfo = parentCtrl->GetShapeInfo();
btRigidBody* rigidbody = parentCtrl->GetRigidBody();
btCollisionShape* colShape = rigidbody->getCollisionShape();
assert(colShape->isCompound());
btCompoundShape* compoundShape = (btCompoundShape*)colShape;
shapeInfo->m_childScale.setValue(relativeScale[0],relativeScale[1],relativeScale[2]);
bm->setLocalScaling(shapeInfo->m_childScale);
shapeInfo->m_childTrans.getOrigin().setValue(relativePos[0],relativePos[1],relativePos[2]);
float rot[12];
relativeRot.getValue(rot);
shapeInfo->m_childTrans.getBasis().setFromOpenGLSubMatrix(rot);
// compute the local transform from parent, this may include several node in the chain
SG_Node* gameNode = gameobj->GetSGNode();
SG_Node* parentNode = parent->GetSGNode();
// relative transform
MT_Vector3 parentScale = parentNode->GetWorldScaling();
parentScale[0] = MT_Scalar(1.0)/parentScale[0];
parentScale[1] = MT_Scalar(1.0)/parentScale[1];
parentScale[2] = MT_Scalar(1.0)/parentScale[2];
MT_Vector3 relativeScale = gameNode->GetWorldScaling() * parentScale;
MT_Matrix3x3 parentInvRot = parentNode->GetWorldOrientation().transposed();
MT_Vector3 relativePos = parentInvRot*((gameNode->GetWorldPosition()-parentNode->GetWorldPosition())*parentScale);
MT_Matrix3x3 relativeRot = parentInvRot*gameNode->GetWorldOrientation();
parentShapeInfo->AddShape(shapeInfo);
compoundShape->addChildShape(shapeInfo->m_childTrans,bm);
//do some recalc?
//recalc inertia for rigidbody
if (!rigidbody->isStaticOrKinematicObject())
{
btVector3 localInertia;
float mass = 1.f/rigidbody->getInvMass();
compoundShape->calculateLocalInertia(mass,localInertia);
rigidbody->setMassProps(mass,localInertia);
shapeInfo->m_childScale.setValue(relativeScale[0],relativeScale[1],relativeScale[2]);
bm->setLocalScaling(shapeInfo->m_childScale);
shapeInfo->m_childTrans.getOrigin().setValue(relativePos[0],relativePos[1],relativePos[2]);
float rot[12];
relativeRot.getValue(rot);
shapeInfo->m_childTrans.getBasis().setFromOpenGLSubMatrix(rot);
parentShapeInfo->AddShape(shapeInfo);
compoundShape->addChildShape(shapeInfo->m_childTrans,bm);
//do some recalc?
//recalc inertia for rigidbody
if (!rigidbody->isStaticOrKinematicObject())
{
btVector3 localInertia;
float mass = 1.f/rigidbody->getInvMass();
compoundShape->calculateLocalInertia(mass,localInertia);
rigidbody->setMassProps(mass,localInertia);
}
shapeInfo->Release();
// delete motionstate as it's not used
delete motionstate;
}
shapeInfo->Release();
// delete motionstate as it's not used
delete motionstate;
return;
}