void RigidBody::setWorldTransform(const btTransform& worldTrans)
{
Quaternion newWorldRotation = ToQuaternion(worldTrans.getRotation());
Vector3 newWorldPosition = ToVector3(worldTrans.getOrigin()) - newWorldRotation * centerOfMass_;
RigidBody* parentRigidBody = 0;
// It is possible that the RigidBody component has been kept alive via a shared pointer,
// while its scene node has already been destroyed
if (node_)
{
// If the rigid body is parented to another rigid body, can not set the transform immediately.
// In that case store it to PhysicsWorld for delayed assignment
Node* parent = node_->GetParent();
if (parent != GetScene() && parent)
parentRigidBody = parent->GetComponent<RigidBody>();
if (!parentRigidBody)
ApplyWorldTransform(newWorldPosition, newWorldRotation);
else
{
DelayedWorldTransform delayed;
delayed.rigidBody_ = this;
delayed.parentRigidBody_ = parentRigidBody;
delayed.worldPosition_ = newWorldPosition;
delayed.worldRotation_ = newWorldRotation;
physicsWorld_->AddDelayedWorldTransform(delayed);
}
MarkNetworkUpdate();
}
}
void RigidBody2D::ApplyWorldTransform()
{
if (!body_ || !node_)
return;
// If the rigid body is parented to another rigid body, can not set the transform immediately.
// In that case store it to PhysicsWorld2D for delayed assignment
RigidBody2D* parentRigidBody = 0;
Node* parent = node_->GetParent();
if (parent != GetScene() && parent)
parentRigidBody = parent->GetComponent<RigidBody2D>();
// If body is not parented and is static or sleeping, no need to update
if (!parentRigidBody && (!body_->IsActive() || body_->GetType() == b2_staticBody || !body_->IsAwake()))
return;
const b2Transform& transform = body_->GetTransform();
Vector3 newWorldPosition = node_->GetWorldPosition();
newWorldPosition.x_ = transform.p.x;
newWorldPosition.y_ = transform.p.y;
Quaternion newWorldRotation(transform.q.GetAngle() * M_RADTODEG, Vector3::FORWARD);
if (parentRigidBody)
{
DelayedWorldTransform2D delayed;
delayed.rigidBody_ = this;
delayed.parentRigidBody_ = parentRigidBody;
delayed.worldPosition_ = newWorldPosition;
delayed.worldRotation_ = newWorldRotation;
physicsWorld_->AddDelayedWorldTransform(delayed);
}
else
ApplyWorldTransform(newWorldPosition, newWorldRotation);
}