diff options
Diffstat (limited to 'extern/bullet2/src/BulletDynamics/Dynamics/btRigidBody.h')
| -rw-r--r-- | extern/bullet2/src/BulletDynamics/Dynamics/btRigidBody.h | 69 |
1 files changed, 45 insertions, 24 deletions
diff --git a/extern/bullet2/src/BulletDynamics/Dynamics/btRigidBody.h b/extern/bullet2/src/BulletDynamics/Dynamics/btRigidBody.h index 4596f90a00f..da1fcb78611 100644 --- a/extern/bullet2/src/BulletDynamics/Dynamics/btRigidBody.h +++ b/extern/bullet2/src/BulletDynamics/Dynamics/btRigidBody.h @@ -17,7 +17,6 @@ subject to the following restrictions: #define RIGIDBODY_H #include "LinearMath/btAlignedObjectArray.h" -#include "LinearMath/btPoint3.h" #include "LinearMath/btTransform.h" #include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h" #include "BulletCollision/CollisionDispatch/btCollisionObject.h" @@ -31,7 +30,7 @@ extern btScalar gDeactivationTime; extern bool gDisableDeactivation; -///btRigidBody is the main class for rigid body objects. It is derived from btCollisionObject, so it keeps a pointer to a btCollisionShape. +///The btRigidBody is the main class for rigid body objects. It is derived from btCollisionObject, so it keeps a pointer to a btCollisionShape. ///It is recommended for performance and memory use to share btCollisionShape objects whenever possible. ///There are 3 types of rigid bodies: ///- A) Dynamic rigid bodies, with positive mass. Motion is controlled by rigid body dynamics. @@ -46,9 +45,11 @@ class btRigidBody : public btCollisionObject btVector3 m_linearVelocity; btVector3 m_angularVelocity; btScalar m_inverseMass; - btScalar m_angularFactor; + btVector3 m_angularFactor; + btVector3 m_linearFactor; btVector3 m_gravity; + btVector3 m_gravity_acceleration; btVector3 m_invInertiaLocal; btVector3 m_totalForce; btVector3 m_totalTorque; @@ -75,7 +76,7 @@ class btRigidBody : public btCollisionObject public: - ///btRigidBodyConstructionInfo provides information to create a rigid body. Setting mass to zero creates a fixed (non-dynamic) rigid body. + ///The btRigidBodyConstructionInfo structure provides information to create a rigid body. Setting mass to zero creates a fixed (non-dynamic) rigid body. ///For dynamic objects, you can use the collision shape to approximate the local inertia tensor, otherwise use the zero vector (default argument) ///You can use the motion state to synchronize the world transform between physics and graphics objects. ///And if the motion state is provided, the rigid body will initialize its initial world transform from the motion state, @@ -182,7 +183,7 @@ public: const btVector3& getGravity() const { - return m_gravity; + return m_gravity_acceleration; } void setDamping(btScalar lin_damping, btScalar ang_damping); @@ -219,6 +220,14 @@ public: void setMassProps(btScalar mass, const btVector3& inertia); + const btVector3& getLinearFactor() const + { + return m_linearFactor; + } + void setLinearFactor(const btVector3& linearFactor) + { + m_linearFactor = linearFactor; + } btScalar getInvMass() const { return m_inverseMass; } const btMatrix3x3& getInvInertiaTensorWorld() const { return m_invInertiaTensorWorld; @@ -230,10 +239,20 @@ public: void applyCentralForce(const btVector3& force) { - m_totalForce += force; + m_totalForce += force*m_linearFactor; } + + const btVector3& getTotalForce() + { + return m_totalForce; + }; + + const btVector3& getTotalTorque() + { + return m_totalTorque; + }; - const btVector3& getInvInertiaDiagLocal() + const btVector3& getInvInertiaDiagLocal() const { return m_invInertiaLocal; }; @@ -251,23 +270,23 @@ public: void applyTorque(const btVector3& torque) { - m_totalTorque += torque; + m_totalTorque += torque*m_angularFactor; } void applyForce(const btVector3& force, const btVector3& rel_pos) { applyCentralForce(force); - applyTorque(rel_pos.cross(force)*m_angularFactor); + applyTorque(rel_pos.cross(force*m_linearFactor)); } void applyCentralImpulse(const btVector3& impulse) { - m_linearVelocity += impulse * m_inverseMass; + m_linearVelocity += impulse *m_linearFactor * m_inverseMass; } void applyTorqueImpulse(const btVector3& torque) { - m_angularVelocity += m_invInertiaTensorWorld * torque; + m_angularVelocity += m_invInertiaTensorWorld * torque * m_angularFactor; } void applyImpulse(const btVector3& impulse, const btVector3& rel_pos) @@ -277,7 +296,7 @@ public: applyCentralImpulse(impulse); if (m_angularFactor) { - applyTorqueImpulse(rel_pos.cross(impulse)*m_angularFactor); + applyTorqueImpulse(rel_pos.cross(impulse*m_linearFactor)); } } } @@ -287,10 +306,10 @@ public: { if (m_inverseMass != btScalar(0.)) { - m_linearVelocity += linearComponent*impulseMagnitude; + m_linearVelocity += linearComponent*m_linearFactor*impulseMagnitude; if (m_angularFactor) { - m_angularVelocity += angularComponent*impulseMagnitude*m_angularFactor; + m_angularVelocity += angularComponent*m_angularFactor*impulseMagnitude; } } } @@ -303,7 +322,7 @@ public: void updateInertiaTensor(); - const btPoint3& getCenterOfMassPosition() const { + const btVector3& getCenterOfMassPosition() const { return m_worldTransform.getOrigin(); } btQuaternion getOrientation() const; @@ -321,15 +340,12 @@ public: inline void setLinearVelocity(const btVector3& lin_vel) { - assert (m_collisionFlags != btCollisionObject::CF_STATIC_OBJECT); m_linearVelocity = lin_vel; } - inline void setAngularVelocity(const btVector3& ang_vel) { - assert (m_collisionFlags != btCollisionObject::CF_STATIC_OBJECT); - { - m_angularVelocity = ang_vel; - } + inline void setAngularVelocity(const btVector3& ang_vel) + { + m_angularVelocity = ang_vel; } btVector3 getVelocityInLocalPoint(const btVector3& rel_pos) const @@ -353,7 +369,7 @@ public: - SIMD_FORCE_INLINE btScalar computeImpulseDenominator(const btPoint3& pos, const btVector3& normal) const + SIMD_FORCE_INLINE btScalar computeImpulseDenominator(const btVector3& pos, const btVector3& normal) const { btVector3 r0 = pos - getCenterOfMassPosition(); @@ -443,11 +459,16 @@ public: int m_contactSolverType; int m_frictionSolverType; - void setAngularFactor(btScalar angFac) + void setAngularFactor(const btVector3& angFac) { m_angularFactor = angFac; } - btScalar getAngularFactor() const + + void setAngularFactor(btScalar angFac) + { + m_angularFactor.setValue(angFac,angFac,angFac); + } + const btVector3& getAngularFactor() const { return m_angularFactor; } |