void Body::getWorldTransform(btTransform& worldTrans) const
{
Transforms* pTransforms = getTransforms();
if (pTransforms)
{
worldTrans = btTransform(toBullet(pTransforms->getWorldOrientation()),
toBullet(pTransforms->getWorldPosition()));
}
}
Handle<Value> Transforms_GetWorldPosition(Local<String> property, const AccessorInfo &info)
{
HandleScope handle_scope;
Transforms* ptr = GetPtr(info.This());
assert(ptr);
return handle_scope.Close(toJavaScript(ptr->getWorldPosition()));
}
void Body::setWorldTransform(const btTransform& worldTrans)
{
Transforms* pTransforms = getTransforms();
if (pTransforms)
{
pTransforms->translate(fromBullet(worldTrans.getOrigin()) - pTransforms->getWorldPosition(), Transforms::TS_WORLD);
if (m_bRotationEnabled)
pTransforms->rotate(pTransforms->getWorldOrientation().rotationTo(fromBullet(worldTrans.getRotation())), Transforms::TS_WORLD);
}
}
void Transforms::update()
{
if (!m_bDirty)
return;
Transforms* pParent = getTransforms();
if (pParent)
{
// Update orientation
const Quaternion& parentOrientation = pParent->getWorldOrientation();
if (m_bInheritOrientation)
{
// Combine orientation with that of parent
m_fullOrientation = parentOrientation * m_orientation;
m_fullOrientation.normalise();
}
else
{
// No inheritence
m_fullOrientation = m_orientation;
}
// Update scale
const Vector3& parentScale = pParent->getWorldScale();
if (m_bInheritScale)
{
// Scale own position by parent scale, NB just combine
// as equivalent axes, no shearing
m_fullScale = parentScale * m_scale;
}
else
{
// No inheritence
m_fullScale = m_scale;
}
// Change position vector based on parent's orientation & scale
m_fullPosition = parentOrientation * (parentScale * m_position);
// Add altered position vector to parents
m_fullPosition += pParent->getWorldPosition();
}
else
{
// No parent
m_fullPosition = m_position;
m_fullOrientation = m_orientation;
m_fullScale = m_scale;
}
m_bDirty = false;
}
