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Improved rigid body handling for non spherical bounds type.

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Polyheder dynamic objects are now converted properly.
This commit is contained in:
Kester Maddock
2004-04-16 06:26:33 +00:00
parent 98b8c5102d
commit 4e2f7baff2
4 changed files with 42 additions and 34 deletions
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25
source/gameengine/Ketsji/KX_ConvertPhysicsObjects.cpp
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@@ -130,27 +130,42 @@ void KX_ConvertSumoObject( KX_GameObject* gameobj,
switch (objprop->m_boundclass)
{
case KX_BOUNDBOX:
shape = DT_NewBox(objprop->m_boundobject.box.m_extends[0], objprop->m_boundobject.box.m_extends[1], objprop->m_boundobject.box.m_extends[2]);
smprop->m_inertia.scale(objprop->m_boundobject.box.m_extends[0], objprop->m_boundobject.box.m_extends[1], objprop->m_boundobject.box.m_extends[2]);
smprop->m_inertia /= (objprop->m_boundobject.box.m_extends[0] + objprop->m_boundobject.box.m_extends[1] + objprop->m_boundobject.box.m_extends[2]) / 3.;
shape = DT_NewBox(objprop->m_boundobject.box.m_extends[0],
objprop->m_boundobject.box.m_extends[1],
objprop->m_boundobject.box.m_extends[2]);
smprop->m_inertia.scale(objprop->m_boundobject.box.m_extends[0]*objprop->m_boundobject.box.m_extends[0],
objprop->m_boundobject.box.m_extends[1]*objprop->m_boundobject.box.m_extends[1],
objprop->m_boundobject.box.m_extends[2]*objprop->m_boundobject.box.m_extends[2]);
smprop->m_inertia *= smprop->m_mass/MT_Vector3(objprop->m_boundobject.box.m_extends).length();
break;
case KX_BOUNDCYLINDER:
shape = DT_NewCylinder(objprop->m_radius, objprop->m_boundobject.c.m_height);
shape = DT_NewCylinder(smprop->m_radius, objprop->m_boundobject.c.m_height);
smprop->m_inertia.scale(smprop->m_mass*smprop->m_radius*smprop->m_radius,
smprop->m_mass*smprop->m_radius*smprop->m_radius,
smprop->m_mass*objprop->m_boundobject.c.m_height*objprop->m_boundobject.c.m_height);
break;
case KX_BOUNDCONE:
shape = DT_NewCone(objprop->m_radius, objprop->m_boundobject.c.m_height);
smprop->m_inertia.scale(smprop->m_mass*smprop->m_radius*smprop->m_radius,
smprop->m_mass*smprop->m_radius*smprop->m_radius,
smprop->m_mass*objprop->m_boundobject.c.m_height*objprop->m_boundobject.c.m_height);
break;
/* Enabling this allows you to use dynamic mesh objects. It's disabled 'cause it's really slow. */
/* Dynamic mesh objects. WARNING! slow. */
case KX_BOUNDMESH:
if (meshobj && meshobj->NumPolygons() > 0)
{
if ((shape = CreateShapeFromMesh(meshobj)))
{
// TODO: calculate proper inertia
smprop->m_inertia *= smprop->m_mass*smprop->m_radius*smprop->m_radius;
break;
}
}
/* If CreateShapeFromMesh fails, fall through and use sphere */
default:
case KX_BOUNDSPHERE:
shape = DT_NewSphere(objprop->m_radius);
smprop->m_inertia *= smprop->m_mass*smprop->m_radius*smprop->m_radius;
break;
}