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enabled ipo in combination with physics (no friction effect from kinematic to dynamic transferred yet)

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This commit is contained in:
Erwin Coumans
2006-04-14 04:03:56 +00:00
parent 5a26279d63
commit 187cc0a5fe
2 changed files with 70 additions and 22 deletions
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46
extern/bullet/Extras/PhysicsInterface/CcdPhysics/CcdPhysicsController.cpp vendored
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@@ -6,7 +6,7 @@
#include "BroadphaseCollision/BroadphaseInterface.h"
#include "CollisionShapes/ConvexShape.h"
#include "CcdPhysicsEnvironment.h"
#include "SimdTransformUtil.h"
class BP_Proxy;
@@ -93,20 +93,44 @@ CcdPhysicsController::~CcdPhysicsController()
*/
bool CcdPhysicsController::SynchronizeMotionStates(float time)
{
const SimdVector3& worldPos = m_body->getCenterOfMassPosition();
m_MotionState->setWorldPosition(worldPos[0],worldPos[1],worldPos[2]);
const SimdQuaternion& worldquat = m_body->getOrientation();
m_MotionState->setWorldOrientation(worldquat[0],worldquat[1],worldquat[2],worldquat[3]);
//don't sync non-dynamic...
m_MotionState->calculateWorldTransformations();
if (m_body->getInvMass() != 0.f)
{
const SimdVector3& worldPos = m_body->getCenterOfMassPosition();
m_MotionState->setWorldPosition(worldPos[0],worldPos[1],worldPos[2]);
const SimdQuaternion& worldquat = m_body->getOrientation();
m_MotionState->setWorldOrientation(worldquat[0],worldquat[1],worldquat[2],worldquat[3]);
float scale[3];
m_MotionState->getWorldScaling(scale[0],scale[1],scale[2]);
SimdVector3 scaling(scale[0],scale[1],scale[2]);
GetCollisionShape()->setLocalScaling(scaling);
m_MotionState->calculateWorldTransformations();
float scale[3];
m_MotionState->getWorldScaling(scale[0],scale[1],scale[2]);
SimdVector3 scaling(scale[0],scale[1],scale[2]);
GetCollisionShape()->setLocalScaling(scaling);
} else
{
SimdVector3 worldPos;
SimdQuaternion worldquat;
m_MotionState->getWorldPosition(worldPos[0],worldPos[1],worldPos[2]);
m_MotionState->getWorldOrientation(worldquat[0],worldquat[1],worldquat[2],worldquat[3]);
SimdTransform oldTrans = m_body->getCenterOfMassTransform();
SimdTransform newTrans(worldquat,worldPos);
m_body->setCenterOfMassTransform(newTrans);
//need to keep track of previous position for friction effects...
m_MotionState->calculateWorldTransformations();
float scale[3];
m_MotionState->getWorldScaling(scale[0],scale[1],scale[2]);
SimdVector3 scaling(scale[0],scale[1],scale[2]);
GetCollisionShape()->setLocalScaling(scaling);
}
return true;
}
/**

46
source/gameengine/Physics/Bullet/CcdPhysicsController.cpp
View File

@@ -6,7 +6,7 @@
#include "BroadphaseCollision/BroadphaseInterface.h"
#include "CollisionShapes/ConvexShape.h"
#include "CcdPhysicsEnvironment.h"
#include "SimdTransformUtil.h"
class BP_Proxy;
@@ -93,20 +93,44 @@ CcdPhysicsController::~CcdPhysicsController()
*/
bool CcdPhysicsController::SynchronizeMotionStates(float time)
{
const SimdVector3& worldPos = m_body->getCenterOfMassPosition();
m_MotionState->setWorldPosition(worldPos[0],worldPos[1],worldPos[2]);
const SimdQuaternion& worldquat = m_body->getOrientation();
m_MotionState->setWorldOrientation(worldquat[0],worldquat[1],worldquat[2],worldquat[3]);
//don't sync non-dynamic...
m_MotionState->calculateWorldTransformations();
if (m_body->getInvMass() != 0.f)
{
const SimdVector3& worldPos = m_body->getCenterOfMassPosition();
m_MotionState->setWorldPosition(worldPos[0],worldPos[1],worldPos[2]);
const SimdQuaternion& worldquat = m_body->getOrientation();
m_MotionState->setWorldOrientation(worldquat[0],worldquat[1],worldquat[2],worldquat[3]);
float scale[3];
m_MotionState->getWorldScaling(scale[0],scale[1],scale[2]);
SimdVector3 scaling(scale[0],scale[1],scale[2]);
GetCollisionShape()->setLocalScaling(scaling);
m_MotionState->calculateWorldTransformations();
float scale[3];
m_MotionState->getWorldScaling(scale[0],scale[1],scale[2]);
SimdVector3 scaling(scale[0],scale[1],scale[2]);
GetCollisionShape()->setLocalScaling(scaling);
} else
{
SimdVector3 worldPos;
SimdQuaternion worldquat;
m_MotionState->getWorldPosition(worldPos[0],worldPos[1],worldPos[2]);
m_MotionState->getWorldOrientation(worldquat[0],worldquat[1],worldquat[2],worldquat[3]);
SimdTransform oldTrans = m_body->getCenterOfMassTransform();
SimdTransform newTrans(worldquat,worldPos);
m_body->setCenterOfMassTransform(newTrans);
//need to keep track of previous position for friction effects...
m_MotionState->calculateWorldTransformations();
float scale[3];
m_MotionState->getWorldScaling(scale[0],scale[1],scale[2]);
SimdVector3 scaling(scale[0],scale[1],scale[2]);
GetCollisionShape()->setLocalScaling(scaling);
}
return true;
}
/**