btRigidBody* Physics::CreateRigidBody( const float mass, const CIwFVec3 position, const CIwFVec3 rotation, btCollisionShape* shape )
{
btRigidBody* rigidBody;
btTransform startTransform;
startTransform.setIdentity();
startTransform.setOrigin( btVector3( position.x, position.y, position.z ) );
btQuaternion q;
CIwFVec3 rot = rotation * static_cast<float>( BPU_PI_180 );
EulerXYZToQuaternion( rot, q );
startTransform.setRotation( q );
bool isDynamic = ( mass != 0.f ); // Rigidbody is dynamic if and only if mass is non zero, otherwise static
btVector3 localInertia( 0, 0, 0 );
if( isDynamic )
{
shape->calculateLocalInertia( mass, localInertia );
}
// Using motionstate is recommended, it provides interpolation capabilities, and only synchronizes 'active' objects
#ifdef USE_MOTIONSTATE
btDefaultMotionState* motionState = new btDefaultMotionState( startTransform );
btRigidBody::btRigidBodyConstructionInfo rInfo( mass, motionState, shape, localInertia );
rigidBody = new btRigidBody( rInfo );
#else
rigidBody = new btRigidBody( mass, 0, shape, localInertia );
rigidBody->setWorldTransform( startTransform );
#endif
m_dynamicsWorld->addRigidBody( rigidBody );
return rigidBody;
}
//------------------------------------------------------------------------------
//! setRotation
//! Set animator rotation (v measured in radians)
void CBulletObjectAnimator::setRotation(const core::vector3df& v) const
{
_IRR_DEBUG_BREAK_IF(rigidBody == NULL);
btTransform t = rigidBody->getWorldTransform();
btQuaternion btq;
EulerXYZToQuaternion(v, btq);
t.setRotation(btq);
rigidBody->setWorldTransform(t);
}
