void btRigidBody::debugLocalProperties(btIDebugDraw* glDebugDrawer){
btTransform chassisTrans = getCenterOfMassTransform();
btVector3 sideVector (
chassisTrans.getBasis()[0][0],
chassisTrans.getBasis()[1][0],
chassisTrans.getBasis()[2][0]);
btVector3 fwdVector (
chassisTrans.getBasis()[0][2],
chassisTrans.getBasis()[1][2],
chassisTrans.getBasis()[2][2]);
if(idDebug == 1){
for(int i = 0; i < 4;i++){
btVector3 angLinearVelocity = debugAngularVelocity[i].cross(debugRelVector[i]);
btVector3 relativePosition = debugRelVector[i] + getCenterOfMassPosition();
btVector3 toRelativePosition = relativePosition+angLinearVelocity*2;
//glDebugDrawer->drawLine(relativePosition,toRelativePosition,btVector3(0.2,0.7,0.5));
//angLinearVelocity = debugAngularVelocity.cross(4.9*-sideVector);
relativePosition = getCenterOfMassPosition()-sideVector*6;
toRelativePosition = relativePosition+angLinearVelocity*1000;
//glDebugDrawer->drawLine(relativePosition,toRelativePosition,btVector3(0.2,0.7,0.5));
relativePosition = getCenterOfMassPosition()+fwdVector*4+btVector3(0,3,0);
toRelativePosition = relativePosition+debugLinearVelocity*1000;
//glDebugDrawer->drawLine(relativePosition,toRelativePosition,btVector3(0.2,0.7,0.5));
}
}
}
glm::vec3 ObjectAction::getPosition() {
auto rigidBody = getRigidBody();
if (!rigidBody) {
return glm::vec3(0.0f);
}
return bulletToGLM(rigidBody->getCenterOfMassPosition());
}
btRigidBody* FractureBody::breakConnection(int con_id)
{
btAssert(con_id >= 0 && con_id < m_connections.size());
int shape_id = m_connections[con_id].m_shapeId;
btCompoundShape* compound = static_cast<btCompoundShape*>(m_collisionShape);
// Init child body.
btRigidBody* child = m_connections[con_id].m_body;
btTransform trans = getWorldTransform() * compound->getChildTransform(shape_id);
child->setWorldTransform(trans);
child->setLinearVelocity(getVelocityInLocalPoint(trans.getOrigin()-getCenterOfMassPosition()));
child->setAngularVelocity(btVector3(0, 0, 0));
setConId(*child->getCollisionShape(), -1);
// Remove child shape.
btAssert(child->getCollisionShape() == compound->getChildShape(shape_id));
compound->removeChildShapeByIndex(shape_id);
// Execute fracture callback.
if (m_connections[con_id].m_fracture)
{
(*m_connections[con_id].m_fracture)(m_connections[con_id]);
}
// Invalidate connection.
m_connections[con_id].m_shapeId = -1;
// Update shape id due to shape swapping.
if (shape_id < compound->getNumChildShapes())
{
btCollisionShape* child_shape = compound->getChildShape(shape_id);
con_id = getConId(*child_shape);
if (con_id >= 0 && con_id < m_connections.size())
{
m_connections[con_id].m_shapeId = shape_id;
}
}
return child;
}
