diff options
Diffstat (limited to 'extern/bullet2/src/BulletDynamics/Dynamics/btRigidBody.h')
| -rw-r--r-- | extern/bullet2/src/BulletDynamics/Dynamics/btRigidBody.h | 33 |
1 files changed, 20 insertions, 13 deletions
diff --git a/extern/bullet2/src/BulletDynamics/Dynamics/btRigidBody.h b/extern/bullet2/src/BulletDynamics/Dynamics/btRigidBody.h index 4596f90a00f..ec570cab875 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. @@ -49,6 +48,7 @@ class btRigidBody : public btCollisionObject btScalar m_angularFactor; btVector3 m_gravity; + btVector3 m_gravity_acceleration; btVector3 m_invInertiaLocal; btVector3 m_totalForce; btVector3 m_totalTorque; @@ -75,7 +75,7 @@ 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 +182,7 @@ public: const btVector3& getGravity() const { - return m_gravity; + return m_gravity_acceleration; } void setDamping(btScalar lin_damping, btScalar ang_damping); @@ -232,8 +232,18 @@ public: { m_totalForce += force; } + + const btVector3& getTotalForce() + { + return m_totalForce; + }; + + const btVector3& getTotalTorque() + { + return m_totalTorque; + }; - const btVector3& getInvInertiaDiagLocal() + const btVector3& getInvInertiaDiagLocal() const { return m_invInertiaLocal; }; @@ -303,7 +313,7 @@ public: void updateInertiaTensor(); - const btPoint3& getCenterOfMassPosition() const { + const btVector3& getCenterOfMassPosition() const { return m_worldTransform.getOrigin(); } btQuaternion getOrientation() const; @@ -321,15 +331,12 @@ 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 +360,7 @@ 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(); |