Remove scale from TransformStates before converting to Bullet, and some minor changes.

panda/src/bullet/bulletBodyNode.cxx

@@ -171,9 +171,9 @@ void BulletBodyNode::
 transform_changed() {
 
   // Apply scale to collision shape
-  CPT(TransformState) xform = this->get_transform();
-  if (xform->has_scale()) {
-    LVecBase3f scale = xform->get_scale();
+  CPT(TransformState) ts = this->get_transform();
+  if (ts->has_scale()) {
+    LVecBase3f scale = ts->get_scale();
     _shape->setLocalScaling(LVecBase3f_to_btVector3(scale));
   }
 }
@@ -184,7 +184,7 @@ transform_changed() {
 //  Description:
 ////////////////////////////////////////////////////////////////////
 void BulletBodyNode::
-add_shape(BulletShape *shape, CPT(TransformState) xform) {
+add_shape(BulletShape *shape, CPT(TransformState) ts) {
 
   nassertv(get_object());
 
@@ -192,12 +192,9 @@ add_shape(BulletShape *shape, CPT(TransformState) xform) {
     && ((btConvexHullShape *)shape->ptr())->getNumVertices() == 0));
 
   // Transform
-  btTransform trans;
-  if (xform) {
-    trans = LMatrix4f_to_btTrans(xform->get_mat());
-  }
-  else {
-    trans.setIdentity();
+  btTransform trans = btTransform::getIdentity();
+  if (ts) {
+    trans = LMatrix4f_to_btTrans(ts->get_mat());
   }
 
   // Root shape
@@ -207,7 +204,7 @@ add_shape(BulletShape *shape, CPT(TransformState) xform) {
   if (_shapes.size() == 0) {
     nassertv(previous->getShapeType() == EMPTY_SHAPE_PROXYTYPE);
 
-    if (xform) {
+    if (ts) {
       // One shape, with transform
       next = new btCompoundShape();
       ((btCompoundShape *)next)->addChildShape(trans, shape->ptr());
@@ -361,8 +358,8 @@ get_shape_mat(int idx) const {
   if (root->getShapeType() == COMPOUND_SHAPE_PROXYTYPE) {
     btCompoundShape *compound = (btCompoundShape *)root;
 
-    btTransform xform = compound->getChildTransform(idx);
-    return btTrans_to_LMatrix4f(xform);
+    btTransform trans = compound->getChildTransform(idx);
+    return btTrans_to_LMatrix4f(trans);
 
     // The above code assumes that shape's index in _shapes member
     // is the same as the shapes index within the compound. If it
@@ -372,8 +369,8 @@ get_shape_mat(int idx) const {
     btCollisionShape *shape = get_shape(idx)->ptr();
     for (int i=0; i<compound->getNumChildShapes(); i++) {
       if (compound->getChildShape(i) == shape) {
-         btTransform xform = compound->getChildTransform(idx);
-         return btTrans_to_LMatrix4f(xform);
+         btTransform trans = compound->getChildTransform(idx);
+         return btTrans_to_LMatrix4f(trans);
       }
     }
     */

panda/src/bullet/bulletCharacterControllerNode.cxx

@@ -216,8 +216,7 @@ pre_step(float dt) {
   // Linear movement
   btVector3 v;
   if (_linear_velocity_is_local) {
-    btTransform xform;
-    xform = _ghost->getWorldTransform();
+    btTransform xform = _ghost->getWorldTransform();
     xform.setOrigin(btVector3(0.0f, 0.0f, 0.0f));
     v = xform(LVecBase3f_to_btVector3(_linear_velocity));
   }
@@ -239,7 +238,7 @@ pre_step(float dt) {
 void BulletCharacterControllerNode::
 post_step() {
 
-  btTransform& trans = _ghost->getWorldTransform();
+  btTransform trans = _ghost->getWorldTransform();
   CPT(TransformState) ts = btTrans_to_TransformState(trans);
 
   _disable_transform_changed = true;

panda/src/bullet/bulletConeTwistConstraint.cxx

@@ -26,10 +26,10 @@ TypeHandle BulletConeTwistConstraint::_type_handle;
 ////////////////////////////////////////////////////////////////////
 BulletConeTwistConstraint::
 BulletConeTwistConstraint(const BulletRigidBodyNode *node_a, 
-                          const TransformState &frame_a) {
+                          CPT(TransformState) frame_a) {
 
   btRigidBody *ptr_a = btRigidBody::upcast(node_a->get_object());
-  btTransform trans_a = LMatrix4f_to_btTrans(frame_a.get_mat());
+  btTransform trans_a = TransformState_to_btTrans(frame_a);
 
   _constraint = new btConeTwistConstraint(*ptr_a, trans_a);
 }
@@ -42,14 +42,14 @@ BulletConeTwistConstraint(const BulletRigidBodyNode *node_a,
 BulletConeTwistConstraint::
 BulletConeTwistConstraint(const BulletRigidBodyNode *node_a,
                           const BulletRigidBodyNode *node_b,
-                          const TransformState &frame_a,
-                          const TransformState &frame_b) {
+                          CPT(TransformState) frame_a,
+                          CPT(TransformState) frame_b) {
 
   btRigidBody *ptr_a = btRigidBody::upcast(node_a->get_object());
-  btTransform trans_a = LMatrix4f_to_btTrans(frame_a.get_mat());
+  btTransform trans_a = TransformState_to_btTrans(frame_a);
 
   btRigidBody *ptr_b = btRigidBody::upcast(node_b->get_object());
-  btTransform trans_b = LMatrix4f_to_btTrans(frame_b.get_mat());
+  btTransform trans_b = TransformState_to_btTrans(frame_b);
 
   _constraint = new btConeTwistConstraint(*ptr_a, *ptr_b, trans_a, trans_b);
 }

panda/src/bullet/bulletConeTwistConstraint.h

@@ -33,11 +33,11 @@ class EXPCL_PANDABULLET BulletConeTwistConstraint : public BulletConstraint {
 
 PUBLISHED:
   BulletConeTwistConstraint(const BulletRigidBodyNode *node_a, 
-                            const TransformState &frame_a);
+                            CPT(TransformState) frame_a);
   BulletConeTwistConstraint(const BulletRigidBodyNode *node_a,
                             const BulletRigidBodyNode *node_b,
-                            const TransformState &frame_a,
-                            const TransformState &frame_b);
+                            CPT(TransformState) frame_a,
+                            CPT(TransformState) frame_b);
   INLINE ~BulletConeTwistConstraint();
 
   void set_limit(int index, float value);

panda/src/bullet/bulletGenericConstraint.cxx

@@ -24,11 +24,11 @@ TypeHandle BulletGenericConstraint::_type_handle;
 ////////////////////////////////////////////////////////////////////
 BulletGenericConstraint::
 BulletGenericConstraint(const BulletRigidBodyNode *node_a, 
-                        const TransformState &frame_a,
+                        CPT(TransformState) frame_a,
                         bool use_frame_a) {
 
   btRigidBody *ptr_a = btRigidBody::upcast(node_a->get_object());
-  btTransform trans_a = LMatrix4f_to_btTrans(frame_a.get_mat());
+  btTransform trans_a = TransformState_to_btTrans(frame_a);
 
   _constraint = new btGeneric6DofConstraint(*ptr_a, trans_a, use_frame_a);
 }
@@ -41,15 +41,15 @@ BulletGenericConstraint(const BulletRigidBodyNode *node_a,
 BulletGenericConstraint::
 BulletGenericConstraint(const BulletRigidBodyNode *node_a,
                         const BulletRigidBodyNode *node_b,
-                        const TransformState &frame_a,
-                        const TransformState &frame_b,
+                        CPT(TransformState) frame_a,
+                        CPT(TransformState) frame_b,
                         bool use_frame_a) {
 
   btRigidBody *ptr_a = btRigidBody::upcast(node_a->get_object());
-  btTransform trans_a = LMatrix4f_to_btTrans(frame_a.get_mat());
+  btTransform trans_a = TransformState_to_btTrans(frame_a);
 
   btRigidBody *ptr_b = btRigidBody::upcast(node_b->get_object());
-  btTransform trans_b = LMatrix4f_to_btTrans(frame_b.get_mat());
+  btTransform trans_b = TransformState_to_btTrans(frame_b);
 
   _constraint = new btGeneric6DofConstraint(*ptr_a, *ptr_b, trans_a, trans_b, use_frame_a);
 }

panda/src/bullet/bulletGenericConstraint.h

@@ -35,12 +35,12 @@ class EXPCL_PANDABULLET BulletGenericConstraint : public BulletConstraint {
 
 PUBLISHED:
   BulletGenericConstraint(const BulletRigidBodyNode *node_a, 
-                          const TransformState &frame_a,
+                          CPT(TransformState) frame_a,
                           bool use_frame_a);
   BulletGenericConstraint(const BulletRigidBodyNode *node_a,
                           const BulletRigidBodyNode *node_b,
-                          const TransformState &frame_a,
-                          const TransformState &frame_b,
+                          CPT(TransformState) frame_a,
+                          CPT(TransformState) frame_b,
                           bool use_frame_a);
   INLINE ~BulletGenericConstraint();
 

panda/src/bullet/bulletGhostNode.cxx

@@ -90,7 +90,7 @@ transform_changed() {
 
   if (_disable_transform_changed) return;
 
-  btTransform trans;
+  btTransform trans = btTransform::getIdentity();
   get_node_transform(trans, this);
   _ghost->setWorldTransform(trans);
   _ghost->setInterpolationWorldTransform(trans);

panda/src/bullet/bulletHelper.cxx

@@ -181,7 +181,7 @@ make_geom_from_links(BulletSoftBodyNode *node, const GeomVertexFormat *format) {
 PT(Geom) BulletHelper::
 make_geom(BulletSoftBodyNode *node, const GeomVertexFormat *format, bool two_sided, bool use_faces) {
 
-  btTransform trans;
+  btTransform trans = btTransform::getIdentity();
   get_node_transform(trans, node);
 
   btSoftBody *body = (btSoftBody *)node->get_object();

panda/src/bullet/bulletRigidBodyNode.cxx

@@ -224,7 +224,7 @@ transform_changed() {
 
   if (_disable_transform_changed) return;
 
-  btTransform trans;
+  btTransform trans = btTransform::getIdentity();
   get_node_transform(trans, this);
   _body->setWorldTransform(trans);
   _body->setInterpolationWorldTransform(trans);
@@ -284,7 +284,7 @@ set_center_of_mass_pos(const LPoint3f &pos) {
 
   nassertv_always(!pos.is_nan());
 
-  btTransform xform;
+  btTransform xform = btTransform::getIdentity();
   xform.setIdentity();
   xform.setOrigin(LVecBase3f_to_btVector3(pos));
 

panda/src/bullet/bulletSliderConstraint.cxx

@@ -26,11 +26,11 @@ TypeHandle BulletSliderConstraint::_type_handle;
 ////////////////////////////////////////////////////////////////////
 BulletSliderConstraint::
 BulletSliderConstraint(const BulletRigidBodyNode *node_a, 
-                       const TransformState &frame_a,
+                       CPT(TransformState) frame_a,
                        bool use_frame_a) {
 
   btRigidBody *ptr_a = btRigidBody::upcast(node_a->get_object());
-  btTransform trans_a = LMatrix4f_to_btTrans(frame_a.get_mat());
+  btTransform trans_a = TransformState_to_btTrans(frame_a);
 
   _constraint = new btSliderConstraint(*ptr_a, trans_a, use_frame_a);
 }
@@ -43,15 +43,15 @@ BulletSliderConstraint(const BulletRigidBodyNode *node_a,
 BulletSliderConstraint::
 BulletSliderConstraint(const BulletRigidBodyNode *node_a,
                        const BulletRigidBodyNode *node_b,
-                       const TransformState &frame_a,
-                       const TransformState &frame_b,
+                       CPT(TransformState) frame_a,
+                       CPT(TransformState) frame_b,
                        bool use_frame_a) {
 
   btRigidBody *ptr_a = btRigidBody::upcast(node_a->get_object());
-  btTransform trans_a = LMatrix4f_to_btTrans(frame_a.get_mat());
+  btTransform trans_a = TransformState_to_btTrans(frame_a);
 
   btRigidBody *ptr_b = btRigidBody::upcast(node_b->get_object());
-  btTransform trans_b = LMatrix4f_to_btTrans(frame_b.get_mat());
+  btTransform trans_b = TransformState_to_btTrans(frame_b);
 
   _constraint = new btSliderConstraint(*ptr_a, *ptr_b, trans_a, trans_b, use_frame_a);
 }

panda/src/bullet/bulletSliderConstraint.h

@@ -33,12 +33,12 @@ class EXPCL_PANDABULLET BulletSliderConstraint : public BulletConstraint {
 
 PUBLISHED:
   BulletSliderConstraint(const BulletRigidBodyNode *node_a, 
-                         const TransformState &frame_a,
+                         CPT(TransformState) frame_a,
                          bool useFrame_a);
   BulletSliderConstraint(const BulletRigidBodyNode *node_a,
                          const BulletRigidBodyNode *node_b,
-                         const TransformState &frame_a,
-                         const TransformState &frame_b,
+                         CPT(TransformState) frame_a,
+                         CPT(TransformState) frame_b,
                          bool use_frame_a);
   INLINE ~BulletSliderConstraint();
 

panda/src/bullet/bulletSoftBodyNode.cxx

@@ -193,7 +193,7 @@ transform_changed() {
 
   if (_disable_transform_changed) return;
 
-  btTransform trans;
+  btTransform trans = btTransform::getIdentity();
   get_node_transform(trans, this);
   trans *= _body->m_initialWorldTransform.inverse();
   _body->transform(trans);
@@ -210,7 +210,7 @@ void BulletSoftBodyNode::
 post_step() {
 
   if (_geom) {
-    btTransform trans;
+    btTransform trans = btTransform::getIdentity();
     get_node_transform(trans, this);
 
     PT(GeomVertexData) vdata = _geom->modify_vertex_data();
@@ -284,13 +284,10 @@ get_closest_node_index(LVecBase3f point, bool local) {
   btScalar max_dist_sqr = 1e30;
   btVector3 point_x = LVecBase3f_to_btVector3(point);
 
-  btTransform trans;
+  btTransform trans = btTransform::getIdentity();
   if (local == true) {
     get_node_transform(trans, this);
   }
-  else {
-    trans.setIdentity();
-  }
 
   btSoftBody::tNodeArray &nodes(_body->m_nodes);
   int node_idx = 0;

panda/src/bullet/bullet_utils.cxx

@@ -137,7 +137,7 @@ CPT(TransformState) btTrans_to_TransformState(const btTransform &trans, const LV
 //     Function: TransformState_to_btTrans
 //  Description: 
 ////////////////////////////////////////////////////////////////////
-btTransform TransformState_to_btTrans(CPT(TransformState) ts) {
+btTransform TransformState_to_btTrans(CPT(TransformState) &ts) {
 
   ts = ts->set_scale(1.0);
 
@@ -149,10 +149,7 @@ btTransform TransformState_to_btTrans(CPT(TransformState) ts) {
   btQuaternion btq = LQuaternionf_to_btQuat(quat);
   btVector3 btv = LVecBase3f_to_btVector3(m.get_row3(3));
 
-  btTransform trans;
-  trans.setRotation(btq);
-  trans.setOrigin(btv);
-  return trans;
+  return btTransform(btq, btv);
 }
 
 ////////////////////////////////////////////////////////////////////

panda/src/bullet/bullet_utils.h

@@ -23,6 +23,7 @@
 #include "lvector3.h"
 #include "lmatrix.h"
 #include "lquaternion.h"
+#include "pointerTo.h"
 #include "pandaNode.h"
 #include "nodePath.h"
 
@@ -44,7 +45,8 @@ EXPCL_PANDABULLET CPT(TransformState) btTrans_to_TransformState(
   const btTransform &tf, 
   const LVecBase3f &scale=LVecBase3f(1.0f, 1.0f, 1.0f));
 
-EXPCL_PANDABULLET btTransform TransformState_to_btTrans(CPT(TransformState) ts);
+EXPCL_PANDABULLET btTransform TransformState_to_btTrans(
+  CPT(TransformState) &ts);
 
 // UpAxis
 BEGIN_PUBLISH