Fix for bug #916732

panda/src/bullet/bulletBodyNode.I

@@ -28,6 +28,32 @@ INLINE BulletBodyNode::
   }
 }
 
+////////////////////////////////////////////////////////////////////
+//     Function: BulletBodyNode::set_into_collide_mask
+//       Access: Published
+//  Description: 
+////////////////////////////////////////////////////////////////////
+INLINE void BulletBodyNode::
+set_into_collide_mask(CollideMask mask) {
+
+  PandaNode::set_into_collide_mask(mask);
+
+/*
+  TODO: we would need a handle to the BulletWorld first
+        possible, but has to be set/cleared upon attach/remove to world
+
+  if (!_world) return;
+
+  btBroadphaseProxy* proxy = get_object()->getBroadphaseHandle();
+  if (proxy) {
+    btBroadphaseInterface *broadphase = _world->get_broadphase();
+    btDispatcher *dispatcher = _world->get_dispatcher();
+
+    broadphase->getOverlappingPairCache()->cleanProxyFromPairs(proxy, dispatcher);
+  }
+*/
+}
+
 ////////////////////////////////////////////////////////////////////
 //     Function: BulletBodyNode::notify_collisions
 //       Access: Published

panda/src/bullet/bulletBodyNode.h

@@ -58,6 +58,8 @@ PUBLISHED:
   INLINE void set_kinematic(bool value);
 
   // Contacts
+  INLINE void set_into_collide_mask(CollideMask mask);
+
   INLINE void notify_collisions(bool value);
   INLINE bool notifies_collisions() const;
 

panda/src/bullet/bulletCharacterControllerNode.cxx

@@ -52,9 +52,9 @@ BulletCharacterControllerNode(BulletShape *shape, PN_stdfloat step_height, const
   _up = get_default_up_axis();
 
   // Initialise movement
-  _linear_velocity_is_local = false;
-  _linear_velocity.set(0.0f, 0.0f, 0.0f);
-  _angular_velocity = 0.0f;
+  _linear_movement_is_local = false;
+  _linear_movement.set(0.0f, 0.0f, 0.0f);
+  _angular_movement = 0.0f;
 
   // Character controller
   _character = new btKinematicCharacterController(_ghost, convex, step_height, _up);
@@ -172,28 +172,28 @@ safe_to_transform() const {
 }
 
 ////////////////////////////////////////////////////////////////////
-//     Function: BulletCharacterControllerNode::set_linear_velocity
+//     Function: BulletCharacterControllerNode::set_linear_movement
 //       Access: Published
 //  Description:
 ////////////////////////////////////////////////////////////////////
 void BulletCharacterControllerNode::
-set_linear_velocity(const LVector3 &velocity, bool is_local) {
+set_linear_movement(const LVector3 &movement, bool is_local) {
 
-  nassertv(!velocity.is_nan());
+  nassertv(!movement.is_nan());
 
-  _linear_velocity = velocity;
-  _linear_velocity_is_local = is_local;
+  _linear_movement = movement;
+  _linear_movement_is_local = is_local;
 }
 
 ////////////////////////////////////////////////////////////////////
-//     Function: BulletCharacterControllerNode::set_angular_velocity
+//     Function: BulletCharacterControllerNode::set_angular_movement
 //       Access: Published
 //  Description:
 ////////////////////////////////////////////////////////////////////
 void BulletCharacterControllerNode::
-set_angular_velocity(PN_stdfloat omega) {
+set_angular_movement(PN_stdfloat omega) {
 
-  _angular_velocity = omega;
+  _angular_movement = omega;
 }
 
 ////////////////////////////////////////////////////////////////////
@@ -208,7 +208,7 @@ sync_p2b(PN_stdfloat dt, int num_substeps) {
   transform_changed();
 
   // Angular rotation
-  btScalar angle = dt * deg_2_rad(_angular_velocity);
+  btScalar angle = dt * deg_2_rad(_angular_movement);
 
   btMatrix3x3 m = _ghost->getWorldTransform().getBasis();
   btVector3 up = m[_up];
@@ -218,10 +218,10 @@ sync_p2b(PN_stdfloat dt, int num_substeps) {
   _ghost->getWorldTransform().setBasis(m);
 
   // Linear movement
-  LVector3 vp = _linear_velocity / (btScalar)num_substeps;
+  LVector3 vp = _linear_movement / (btScalar)num_substeps;
 
   btVector3 v;
-  if (_linear_velocity_is_local) {
+  if (_linear_movement_is_local) {
     btTransform xform = _ghost->getWorldTransform();
     xform.setOrigin(btVector3(0.0f, 0.0f, 0.0f));
     v = xform(LVecBase3_to_btVector3(vp));
@@ -232,7 +232,7 @@ sync_p2b(PN_stdfloat dt, int num_substeps) {
 
   //_character->setVelocityForTimeInterval(v, dt);
   _character->setWalkDirection(v * dt);
-  _angular_velocity = 0.0f;
+  _angular_movement = 0.0f;
 }
 
 ////////////////////////////////////////////////////////////////////

panda/src/bullet/bulletCharacterControllerNode.h

@@ -37,8 +37,8 @@ PUBLISHED:
   BulletCharacterControllerNode(BulletShape *shape, PN_stdfloat step_height, const char *name="character");
   INLINE ~BulletCharacterControllerNode();
 
-  void set_linear_velocity(const LVector3 &velocity, bool is_local);
-  void set_angular_velocity(PN_stdfloat omega);
+  void set_linear_movement(const LVector3 &velocity, bool is_local);
+  void set_angular_movement(PN_stdfloat omega);
 
   BulletShape *get_shape() const;
 
@@ -86,9 +86,9 @@ private:
 
   PT(BulletShape) _shape;
 
-  LVector3 _linear_velocity;
-  bool _linear_velocity_is_local;
-  PN_stdfloat _angular_velocity;
+  LVector3 _linear_movement;
+  bool _linear_movement_is_local;
+  PN_stdfloat _angular_movement;
 
 ////////////////////////////////////////////////////////////////////
 public:

panda/src/bullet/bulletWorld.cxx

@@ -725,6 +725,25 @@ get_collision_object(PandaNode *node) {
   return NULL;
 }
 
+/*
+////////////////////////////////////////////////////////////////////
+//     Function: BulletWorld::clean_manifolds_for_node
+//       Access: Public
+//  Description: 
+////////////////////////////////////////////////////////////////////
+void BulletWorld::
+clean_manifolds_for_node(PandaNode *node) {
+
+  btCollisionObject *object = get_collision_object(node);
+  if (object) {
+    btBroadphaseProxy* proxy = object->getBroadphaseHandle();
+    if (proxy) {
+      _world->getPairCache()->cleanProxyFromPairs(proxy, _dispatcher);
+    }
+  }
+}
+*/
+
 ////////////////////////////////////////////////////////////////////
 //     Function: BulletWorld::get_collision_object
 //       Access: Public
@@ -775,6 +794,11 @@ needBroadphaseCollision(btBroadphaseProxy* proxy0, btBroadphaseProxy* proxy1) co
   CollideMask mask0 = node0->get_into_collide_mask();
   CollideMask mask1 = node1->get_into_collide_mask();
 
+// TODO
+cout << node0->get_name() << "  " << node1->get_name() << endl;
+cout << mask0 << "  " << mask1 << endl;
+cout << ((mask0 & mask1) != 0) << endl;
+
   return (mask0 & mask1) != 0;
 }