Page MenuHome
Differential D1115 Diff 3572 source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.cpp

Changeset View

Standalone View

View Options

source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.cpp

Show First 20 Lines • Show All 3,352 Lines • ▼ Show 20 Lines //bm->setMargin(ci.m_margin);
if (isCompoundChild) if (isCompoundChild)
{ {
//find parent, compound shape and add to it //find parent, compound shape and add to it
//take relative transform into account! //take relative transform into account!
CcdPhysicsController* parentCtrl = (CcdPhysicsController*)parent->GetPhysicsController(); CcdPhysicsController* parentCtrl = (CcdPhysicsController*)parent->GetPhysicsController();
assert(parentCtrl); assert(parentCtrl);
// only makes compound shape if parent has a physics controller (i.e not an empty, etc)
if (parentCtrl) {
CcdShapeConstructionInfo* parentShapeInfo = parentCtrl->GetShapeInfo(); CcdShapeConstructionInfo* parentShapeInfo = parentCtrl->GetShapeInfo();
btRigidBody* rigidbody = parentCtrl->GetRigidBody(); btRigidBody* rigidbody = parentCtrl->GetRigidBody();
btCollisionShape* colShape = rigidbody->getCollisionShape(); btCollisionShape* colShape = rigidbody->getCollisionShape();
assert(colShape->isCompound()); assert(colShape->isCompound());
btCompoundShape* compoundShape = (btCompoundShape*)colShape; btCompoundShape* compoundShape = (btCompoundShape*)colShape;
// compute the local transform from parent, this may include several node in the chain // compute the local transform from parent, this may include several node in the chain
SG_Node* gameNode = gameobj->GetSGNode(); SG_Node* gameNode = gameobj->GetSGNode();
SG_Node* parentNode = parent->GetSGNode(); SG_Node* parentNode = parent->GetSGNode();
// relative transform // relative transform
MT_Vector3 parentScale = parentNode->GetWorldScaling(); MT_Vector3 parentScale = parentNode->GetWorldScaling();
parentScale[0] = MT_Scalar(1.0)/parentScale[0]; parentScale[0] = MT_Scalar(1.0)/parentScale[0];
parentScale[1] = MT_Scalar(1.0)/parentScale[1]; parentScale[1] = MT_Scalar(1.0)/parentScale[1];
parentScale[2] = MT_Scalar(1.0)/parentScale[2]; parentScale[2] = MT_Scalar(1.0)/parentScale[2];
MT_Vector3 relativeScale = gameNode->GetWorldScaling() * parentScale; MT_Vector3 relativeScale = gameNode->GetWorldScaling() * parentScale;
MT_Matrix3x3 parentInvRot = parentNode->GetWorldOrientation().transposed(); MT_Matrix3x3 parentInvRot = parentNode->GetWorldOrientation().transposed();
MT_Vector3 relativePos = parentInvRot*((gameNode->GetWorldPosition()-parentNode->GetWorldPosition())*parentScale); MT_Vector3 relativePos = parentInvRot*((gameNode->GetWorldPosition()-parentNode->GetWorldPosition())*parentScale);
MT_Matrix3x3 relativeRot = parentInvRot*gameNode->GetWorldOrientation(); MT_Matrix3x3 relativeRot = parentInvRot*gameNode->GetWorldOrientation();
shapeInfo->m_childScale.setValue(relativeScale[0],relativeScale[1],relativeScale[2]); shapeInfo->m_childScale.setValue(relativeScale[0],relativeScale[1],relativeScale[2]);
bm->setLocalScaling(shapeInfo->m_childScale); bm->setLocalScaling(shapeInfo->m_childScale);
shapeInfo->m_childTrans.getOrigin().setValue(relativePos[0],relativePos[1],relativePos[2]); shapeInfo->m_childTrans.getOrigin().setValue(relativePos[0],relativePos[1],relativePos[2]);
float rot[12]; float rot[12];
relativeRot.getValue(rot); relativeRot.getValue(rot);
shapeInfo->m_childTrans.getBasis().setFromOpenGLSubMatrix(rot); shapeInfo->m_childTrans.getBasis().setFromOpenGLSubMatrix(rot);
parentShapeInfo->AddShape(shapeInfo); parentShapeInfo->AddShape(shapeInfo);
compoundShape->addChildShape(shapeInfo->m_childTrans,bm); compoundShape->addChildShape(shapeInfo->m_childTrans,bm);
//do some recalc? //do some recalc?
//recalc inertia for rigidbody //recalc inertia for rigidbody
if (!rigidbody->isStaticOrKinematicObject()) if (!rigidbody->isStaticOrKinematicObject())
{ {
btVector3 localInertia; btVector3 localInertia;
float mass = 1.f/rigidbody->getInvMass(); float mass = 1.f/rigidbody->getInvMass();
compoundShape->calculateLocalInertia(mass,localInertia); compoundShape->calculateLocalInertia(mass,localInertia);
rigidbody->setMassProps(mass,localInertia); rigidbody->setMassProps(mass,localInertia);
} }
shapeInfo->Release(); shapeInfo->Release();
// delete motionstate as it's not used // delete motionstate as it's not used
delete motionstate; delete motionstate;
}
return; return;
} }
if (hasCompoundChildren) if (hasCompoundChildren)
{ {
// create a compound shape info // create a compound shape info
CcdShapeConstructionInfo *compoundShapeInfo = new CcdShapeConstructionInfo(); CcdShapeConstructionInfo *compoundShapeInfo = new CcdShapeConstructionInfo();
compoundShapeInfo->m_shapeType = PHY_SHAPE_COMPOUND; compoundShapeInfo->m_shapeType = PHY_SHAPE_COMPOUND;
▲ Show 20 Lines • Show All 169 Lines • Show Last 20 Lines