diff options
Diffstat (limited to 'source/gameengine')
| -rw-r--r-- | source/gameengine/Physics/Bullet/CcdPhysicsController.cpp | 126 |
1 files changed, 74 insertions, 52 deletions
diff --git a/source/gameengine/Physics/Bullet/CcdPhysicsController.cpp b/source/gameengine/Physics/Bullet/CcdPhysicsController.cpp index 963dda10873..fe9aa4419e4 100644 --- a/source/gameengine/Physics/Bullet/CcdPhysicsController.cpp +++ b/source/gameengine/Physics/Bullet/CcdPhysicsController.cpp @@ -282,7 +282,7 @@ void CcdPhysicsController::RelativeTranslate(float dlocX,float dlocY,float dloc void CcdPhysicsController::RelativeRotate(const float rotval[9],bool local) { - if (m_body ) + if (m_body) { m_body->activate(true); if (m_body->isStaticObject()) @@ -326,33 +326,39 @@ void CcdPhysicsController::getOrientation(float &quatImag0,float &quatImag1,flo } void CcdPhysicsController::setOrientation(float quatImag0,float quatImag1,float quatImag2,float quatReal) { - m_body->activate(true); - if (m_body->isStaticObject()) + if (m_body) { - m_body->setCollisionFlags(m_body->getCollisionFlags() | btCollisionObject::CF_KINEMATIC_OBJECT); - } + m_body->activate(true); + if (m_body->isStaticObject()) + { + m_body->setCollisionFlags(m_body->getCollisionFlags() | btCollisionObject::CF_KINEMATIC_OBJECT); + } - m_MotionState->setWorldOrientation(quatImag0,quatImag1,quatImag2,quatReal); - btTransform xform = m_body->getCenterOfMassTransform(); - xform.setRotation(btQuaternion(quatImag0,quatImag1,quatImag2,quatReal)); - m_body->setCenterOfMassTransform(xform); - m_bulletMotionState->setWorldTransform(xform); + m_MotionState->setWorldOrientation(quatImag0,quatImag1,quatImag2,quatReal); + btTransform xform = m_body->getCenterOfMassTransform(); + xform.setRotation(btQuaternion(quatImag0,quatImag1,quatImag2,quatReal)); + m_body->setCenterOfMassTransform(xform); + m_bulletMotionState->setWorldTransform(xform); + } } void CcdPhysicsController::setPosition(float posX,float posY,float posZ) { - m_body->activate(true); - if (m_body->isStaticObject()) + if (m_body) { - m_body->setCollisionFlags(m_body->getCollisionFlags() | btCollisionObject::CF_KINEMATIC_OBJECT); + m_body->activate(true); + if (m_body->isStaticObject()) + { + m_body->setCollisionFlags(m_body->getCollisionFlags() | btCollisionObject::CF_KINEMATIC_OBJECT); + } + + m_MotionState->setWorldPosition(posX,posY,posZ); + btTransform xform = m_body->getCenterOfMassTransform(); + xform.setOrigin(btVector3(posX,posY,posZ)); + m_body->setCenterOfMassTransform(xform); + m_bulletMotionState->setWorldTransform(xform); } - - m_MotionState->setWorldPosition(posX,posY,posZ); - btTransform xform = m_body->getCenterOfMassTransform(); - xform.setOrigin(btVector3(posX,posY,posZ)); - m_body->setCenterOfMassTransform(xform); - m_bulletMotionState->setWorldTransform(xform); } @@ -396,49 +402,59 @@ void CcdPhysicsController::ApplyTorque(float torqueX,float torqueY,float torque { btVector3 torque(torqueX,torqueY,torqueZ); btTransform xform = m_body->getCenterOfMassTransform(); - if (torque.length2() > (SIMD_EPSILON*SIMD_EPSILON)) + if (m_body && torque.length2() > (SIMD_EPSILON*SIMD_EPSILON)) { m_body->activate(); + if (m_body->isStaticObject()) + { + m_body->setCollisionFlags(m_body->getCollisionFlags() | btCollisionObject::CF_KINEMATIC_OBJECT); + } + if (local) + { + torque = xform.getBasis()*torque; + } + m_body->applyTorque(torque); } - if (local) - { - torque = xform.getBasis()*torque; - } - m_body->applyTorque(torque); } void CcdPhysicsController::ApplyForce(float forceX,float forceY,float forceZ,bool local) { btVector3 force(forceX,forceY,forceZ); - if (force.length2() > (SIMD_EPSILON*SIMD_EPSILON)) + if (m_body && force.length2() > (SIMD_EPSILON*SIMD_EPSILON)) { m_body->activate(); + if (m_body->isStaticObject()) + { + m_body->setCollisionFlags(m_body->getCollisionFlags() | btCollisionObject::CF_KINEMATIC_OBJECT); + } + { + btTransform xform = m_body->getCenterOfMassTransform(); + if (local) + { + force = xform.getBasis()*force; + } + } + m_body->applyCentralForce(force); } - - - btTransform xform = m_body->getCenterOfMassTransform(); - if (local) - { - force = xform.getBasis()*force; - } - m_body->applyCentralForce(force); } void CcdPhysicsController::SetAngularVelocity(float ang_velX,float ang_velY,float ang_velZ,bool local) { btVector3 angvel(ang_velX,ang_velY,ang_velZ); - if (angvel.length2() > (SIMD_EPSILON*SIMD_EPSILON)) + if (m_body && angvel.length2() > (SIMD_EPSILON*SIMD_EPSILON)) { m_body->activate(true); - } - - { - btTransform xform = m_body->getCenterOfMassTransform(); - if (local) + if (m_body->isStaticObject()) { - angvel = xform.getBasis()*angvel; + m_body->setCollisionFlags(m_body->getCollisionFlags() | btCollisionObject::CF_KINEMATIC_OBJECT); + } + { + btTransform xform = m_body->getCenterOfMassTransform(); + if (local) + { + angvel = xform.getBasis()*angvel; + } } - m_body->setAngularVelocity(angvel); } @@ -447,16 +463,20 @@ void CcdPhysicsController::SetLinearVelocity(float lin_velX,float lin_velY,floa { btVector3 linVel(lin_velX,lin_velY,lin_velZ); - if (linVel.length2() > (SIMD_EPSILON*SIMD_EPSILON)) + if (m_body && linVel.length2() > (SIMD_EPSILON*SIMD_EPSILON)) { m_body->activate(true); - } - - { - btTransform xform = m_body->getCenterOfMassTransform(); - if (local) + if (m_body->isStaticObject()) { - linVel = xform.getBasis()*linVel; + m_body->setCollisionFlags(m_body->getCollisionFlags() | btCollisionObject::CF_KINEMATIC_OBJECT); + } + + { + btTransform xform = m_body->getCenterOfMassTransform(); + if (local) + { + linVel = xform.getBasis()*linVel; + } } m_body->setLinearVelocity(linVel); } @@ -465,14 +485,16 @@ void CcdPhysicsController::applyImpulse(float attachX,float attachY,float attac { btVector3 impulse(impulseX,impulseY,impulseZ); - if (impulse.length2() > (SIMD_EPSILON*SIMD_EPSILON)) + if (m_body && impulse.length2() > (SIMD_EPSILON*SIMD_EPSILON)) { m_body->activate(); + if (m_body->isStaticObject()) + { + m_body->setCollisionFlags(m_body->getCollisionFlags() | btCollisionObject::CF_KINEMATIC_OBJECT); + } btVector3 pos(attachX,attachY,attachZ); - m_body->activate(); - m_body->applyImpulse(impulse,pos); } |