Differential D1402 Diff 4633 source/gameengine/Physics/Bullet/CcdPhysicsController.cpp

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source/gameengine/Physics/Bullet/CcdPhysicsController.cpp

Show First 20 Lines • Show All 691 Lines • ▼ Show 20 Lines	CcdPhysicsController::~CcdPhysicsController()
DeleteControllerShape();		DeleteControllerShape();

if (m_shapeInfo)		if (m_shapeInfo)
{		{
m_shapeInfo->Release();		m_shapeInfo->Release();
}		}
}		}

		void CcdPhysicsController::SimulationTick(float timestep)
		{
		btRigidBody *body = GetRigidBody();
		if (!body \|\| body->isStaticObject())
		return;

		// Clamp linear velocity
		if (m_cci.m_clamp_vel_max > 0.0f \|\| m_cci.m_clamp_vel_min > 0.0f) {
		const btVector3 &linvel = body->getLinearVelocity();
		btScalar len = linvel.length();

		if (m_cci.m_clamp_vel_max > 0.0f && len > m_cci.m_clamp_vel_max)
		body->setLinearVelocity(linvel * (m_cci.m_clamp_vel_max / len));
		else if (m_cci.m_clamp_vel_min > 0.0f && !btFuzzyZero(len) && len < m_cci.m_clamp_vel_min)
		body->setLinearVelocity(linvel * (m_cci.m_clamp_vel_min / len));
		}
		}


/**		/**
* SynchronizeMotionStates ynchronizes dynas, kinematic and deformable entities (and do 'late binding')		* SynchronizeMotionStates ynchronizes dynas, kinematic and deformable entities (and do 'late binding')
*/		*/
bool CcdPhysicsController::SynchronizeMotionStates(float time)		bool CcdPhysicsController::SynchronizeMotionStates(float time)
{		{
//sync non-static to motionstate, and static from motionstate (todo: add kinematic etc.)		//sync non-static to motionstate, and static from motionstate (todo: add kinematic etc.)

Show All 19 Lines	if (sb)
m_MotionState->CalculateWorldTransformations();		m_MotionState->CalculateWorldTransformations();
return true;		return true;
}		}

btRigidBody* body = GetRigidBody();		btRigidBody* body = GetRigidBody();

if (body && !body->isStaticObject())		if (body && !body->isStaticObject())
{		{

if ((m_cci.m_clamp_vel_max>0.0) \|\| (m_cci.m_clamp_vel_min>0.0))
{
const btVector3& linvel = body->getLinearVelocity();
float len= linvel.length();

if ((m_cci.m_clamp_vel_max>0.0) && (len > m_cci.m_clamp_vel_max))
body->setLinearVelocity(linvel * (m_cci.m_clamp_vel_max / len));

else if ((m_cci.m_clamp_vel_min>0.0) && btFuzzyZero(len)==0 && (len < m_cci.m_clamp_vel_min))
body->setLinearVelocity(linvel * (m_cci.m_clamp_vel_min / len));
}

const btTransform& xform = body->getCenterOfMassTransform();		const btTransform& xform = body->getCenterOfMassTransform();
const btMatrix3x3& worldOri = xform.getBasis();		const btMatrix3x3& worldOri = xform.getBasis();
const btVector3& worldPos = xform.getOrigin();		const btVector3& worldPos = xform.getOrigin();
float ori[12];		float ori[12];
worldOri.getOpenGLSubMatrix(ori);		worldOri.getOpenGLSubMatrix(ori);
m_MotionState->SetWorldOrientation(ori);		m_MotionState->SetWorldOrientation(ori);
m_MotionState->SetWorldPosition(worldPos[0],worldPos[1],worldPos[2]);		m_MotionState->SetWorldPosition(worldPos[0],worldPos[1],worldPos[2]);
m_MotionState->CalculateWorldTransformations();		m_MotionState->CalculateWorldTransformations();
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