diff options
Diffstat (limited to 'source/gameengine/Ketsji/KX_BulletPhysicsController.cpp')
| -rw-r--r-- | source/gameengine/Ketsji/KX_BulletPhysicsController.cpp | 38 |
1 files changed, 35 insertions, 3 deletions
diff --git a/source/gameengine/Ketsji/KX_BulletPhysicsController.cpp b/source/gameengine/Ketsji/KX_BulletPhysicsController.cpp index 062e9f7df50..831f9241fec 100644 --- a/source/gameengine/Ketsji/KX_BulletPhysicsController.cpp +++ b/source/gameengine/Ketsji/KX_BulletPhysicsController.cpp @@ -59,6 +59,24 @@ void KX_BulletPhysicsController::applyImpulse(const MT_Point3& attach, const MT_ } +float KX_BulletPhysicsController::GetLinVelocityMin() +{ + return (float)CcdPhysicsController::GetLinVelocityMin(); +} +void KX_BulletPhysicsController::SetLinVelocityMin(float val) +{ + CcdPhysicsController::SetLinVelocityMin(val); +} + +float KX_BulletPhysicsController::GetLinVelocityMax() +{ + return (float)CcdPhysicsController::GetLinVelocityMax(); +} +void KX_BulletPhysicsController::SetLinVelocityMax(float val) +{ + CcdPhysicsController::SetLinVelocityMax(val); +} + void KX_BulletPhysicsController::SetObject (SG_IObject* object) { SG_Controller::SetObject(object); @@ -73,6 +91,10 @@ void KX_BulletPhysicsController::SetObject (SG_IObject* object) } +MT_Scalar KX_BulletPhysicsController::GetRadius() +{ + return MT_Scalar(CcdPhysicsController::GetRadius()); +} void KX_BulletPhysicsController::setMargin (float collisionMargin) { @@ -162,9 +184,18 @@ MT_Scalar KX_BulletPhysicsController::GetMass() } -MT_Scalar KX_BulletPhysicsController::GetRadius() +MT_Vector3 KX_BulletPhysicsController::GetLocalInertia() { - return MT_Scalar(CcdPhysicsController::GetRadius()); + MT_Vector3 inertia(0.f, 0.f, 0.f); + btVector3 inv_inertia; + if (GetRigidBody()) { + inv_inertia = GetRigidBody()->getInvInertiaDiagLocal(); + if (!btFuzzyZero(inv_inertia.getX()) && + !btFuzzyZero(inv_inertia.getY()) && + !btFuzzyZero(inv_inertia.getZ())) + inertia = MT_Vector3(1.f/inv_inertia.getX(), 1.f/inv_inertia.getY(), 1.f/inv_inertia.getZ()); + } + return inertia; } MT_Vector3 KX_BulletPhysicsController::getReactionForce() @@ -417,13 +448,14 @@ void KX_BulletPhysicsController::SetSumoTransform(bool nondynaonly) { if (!nondynaonly) { + /* btTransform worldTrans; if (GetRigidBody()) { GetRigidBody()->getMotionState()->getWorldTransform(worldTrans); GetRigidBody()->setCenterOfMassTransform(worldTrans); } - + */ /* scaling? if (m_bDyna) |