void btRigidBody::setupRigidBody(const btRigidBody::btRigidBodyConstructionInfo& constructionInfo)
{
m_internalType=CO_RIGID_BODY;
m_linearVelocity.setValue(btScalar(0.0), btScalar(0.0), btScalar(0.0));
m_angularVelocity.setValue(btScalar(0.),btScalar(0.),btScalar(0.));
m_angularFactor.setValue(1,1,1);
m_linearFactor.setValue(1,1,1);
m_gravity.setValue(btScalar(0.0), btScalar(0.0), btScalar(0.0));
m_gravity_acceleration.setValue(btScalar(0.0), btScalar(0.0), btScalar(0.0));
m_totalForce.setValue(btScalar(0.0), btScalar(0.0), btScalar(0.0));
m_totalTorque.setValue(btScalar(0.0), btScalar(0.0), btScalar(0.0)),
setDamping(constructionInfo.m_linearDamping, constructionInfo.m_angularDamping);
m_linearSleepingThreshold = constructionInfo.m_linearSleepingThreshold;
m_angularSleepingThreshold = constructionInfo.m_angularSleepingThreshold;
m_optionalMotionState = constructionInfo.m_motionState;
m_contactSolverType = 0;
m_frictionSolverType = 0;
m_additionalDamping = constructionInfo.m_additionalDamping;
m_additionalDampingFactor = constructionInfo.m_additionalDampingFactor;
m_additionalLinearDampingThresholdSqr = constructionInfo.m_additionalLinearDampingThresholdSqr;
m_additionalAngularDampingThresholdSqr = constructionInfo.m_additionalAngularDampingThresholdSqr;
m_additionalAngularDampingFactor = constructionInfo.m_additionalAngularDampingFactor;
if (m_optionalMotionState)
{
m_optionalMotionState->getWorldTransform(m_worldTransform);
} else
{
m_worldTransform = constructionInfo.m_startWorldTransform;
}
m_interpolationWorldTransform = m_worldTransform;
m_interpolationLinearVelocity.setValue(0,0,0);
m_interpolationAngularVelocity.setValue(0,0,0);
//moved to btCollisionObject
m_friction = constructionInfo.m_friction;
m_restitution = constructionInfo.m_restitution;
setCollisionShape( constructionInfo.m_collisionShape );
m_debugBodyId = uniqueId++;
setMassProps(constructionInfo.m_mass, constructionInfo.m_localInertia);
updateInertiaTensor();
m_rigidbodyFlags = 0;
m_deltaLinearVelocity.setZero();
m_deltaAngularVelocity.setZero();
m_invMass = m_inverseMass*m_linearFactor;
m_pushVelocity.setZero();
m_turnVelocity.setZero();
}
RigidBody::RigidBody( const MassProps& massProps,SimdScalar linearDamping,SimdScalar angularDamping,SimdScalar friction,SimdScalar restitution)
:
m_gravity(0.0f, 0.0f, 0.0f),
m_totalForce(0.0f, 0.0f, 0.0f),
m_totalTorque(0.0f, 0.0f, 0.0f),
m_linearVelocity(0.0f, 0.0f, 0.0f),
m_angularVelocity(0.f,0.f,0.f),
m_linearDamping(0.f),
m_angularDamping(0.5f),
m_kinematicTimeStep(0.f),
m_contactSolverType(0),
m_frictionSolverType(0)
{
//moved to CollisionObject
m_friction = friction;
m_restitution = restitution;
m_debugBodyId = uniqueId++;
setMassProps(massProps.m_mass, massProps.m_inertiaLocal);
setDamping(linearDamping, angularDamping);
m_worldTransform.setIdentity();
updateInertiaTensor();
}
void btRigidBody::setCenterOfMassTransform(const btTransform& xform)
{
if (isKinematicObject())
{
m_interpolationWorldTransform = m_worldTransform;
}else
{
m_interpolationWorldTransform = xform;
}
m_interpolationLinearVelocity = getLinearVelocity();
m_interpolationAngularVelocity = getAngularVelocity();
m_worldTransform = xform;
updateInertiaTensor();
}
void btRigidBody::proceedToTransform(const btTransform& newTrans)
{
if (isKinematicObject())
{
m_interpolationWorldTransform = m_worldTransform;
}
else
{
m_interpolationWorldTransform = newTrans;
}
m_interpolationLinearVelocity = getLinearVelocity();
m_interpolationAngularVelocity = getAngularVelocity();
m_worldTransform = newTrans;
updateInertiaTensor();
}
void btRigidBody::setCenterOfMassTransform(const btTransform& xform)
{
btAssert(!std::isnan(xform.getOrigin().getX()));
btAssert(!std::isnan(xform.getOrigin().getY()));
btAssert(!std::isnan(xform.getOrigin().getZ()));
btAssert(!std::isnan(xform.getRotation().getX()));
btAssert(!std::isnan(xform.getRotation().getY()));
btAssert(!std::isnan(xform.getRotation().getZ()));
btAssert(!std::isnan(xform.getRotation().getW()));
if (isStaticOrKinematicObject())
{
m_interpolationWorldTransform = m_worldTransform;
} else
{
m_interpolationWorldTransform = xform;
}
m_interpolationLinearVelocity = getLinearVelocity();
m_interpolationAngularVelocity = getAngularVelocity();
m_worldTransform = xform;
updateInertiaTensor();
}
bool PhysicsObject::init(unsigned int attributeIndex, short collisionFilterGroup)
{
if(attributeIndex < 0)
{
return false;
}
attributeIndex_ = attributeIndex;
collisionFilterGroup_ = collisionFilterGroup;
//Get the init data from a physics attribute
AttributePtr<Attribute_Physics> ptr_physics = itrPhysics_.at(attributeIndex);
btScalar mass = static_cast<btScalar>(ptr_physics->mass);
//Resolve mass, local inertia of the collision shape, and also the collision shape itself.
btCollisionShape* collisionShape = subClassSpecificCollisionShape();
if(collisionShape != nullptr)
{
setCollisionShape(collisionShape);
}
else
{
ERROR_MESSAGEBOX("Error in PhysicsObject::init. Expected collision shape pointer unexpectedly set to nullptr. Using default shape instead.");
setCollisionShape(CollisionShapes::Instance()->getDefaultShape());
}
btVector3 localInertia = subClassCalculateLocalInertiaHook(mass);
setMassProps(mass, localInertia); //Set inverse mass and inverse local inertia
updateInertiaTensor();
if((getCollisionFlags() & btCollisionObject::CF_STATIC_OBJECT))
{
btTransform world;
AttributePtr<Attribute_Spatial> ptr_spatial = itrPhysics_.at(attributeIndex_)->ptr_spatial;
AttributePtr<Attribute_Position> ptr_position = ptr_spatial->ptr_position;
world.setOrigin(convert(ptr_position->position));
world.setRotation(convert(ptr_spatial->rotation));
setWorldTransform(world); //Static physics objects: transform once
}
else
{
//Non-static physics objects: let a derived btMotionState handle transforms.
MotionState* customMotionState = new MotionState(attributeIndex);
setMotionState(customMotionState);
setAngularVelocity(btVector3(ptr_physics->angularVelocity.x,
ptr_physics->angularVelocity.y,
ptr_physics->angularVelocity.z));
setLinearVelocity(btVector3(ptr_physics->linearVelocity.x,
ptr_physics->linearVelocity.y,
ptr_physics->linearVelocity.z));
//Gravity is set after "addRigidBody" for non-static physics objects
}
if(ptr_physics->collisionResponse)
{
setCollisionFlags(getCollisionFlags() & ~CF_NO_CONTACT_RESPONSE); //Activate collision response
}
else
{
setCollisionFlags(getCollisionFlags() | CF_NO_CONTACT_RESPONSE); //Deactivate collision response
}
return subClassSpecificInitHook();
}
void RigidBody::setCenterOfMassTransform(const SimdTransform& xform)
{
m_worldTransform = xform;
updateInertiaTensor();
}
