void PhysicsBody::initDefaults(void)
{
setAutoDisableFlag(dBodyGetAutoDisableFlag(_BodyID));
setAutoDisableLinearThreshold(dBodyGetAutoDisableLinearThreshold(_BodyID));
setAutoDisableAngularThreshold(dBodyGetAutoDisableAngularThreshold(_BodyID));
setAutoDisableSteps(dBodyGetAutoDisableSteps(_BodyID));
setAutoDisableTime(dBodyGetAutoDisableTime(_BodyID));
setFiniteRotationMode(dBodyGetFiniteRotationMode(_BodyID));
dVector3 odeVec;
dBodyGetFiniteRotationAxis(_BodyID, odeVec);
setFiniteRotationAxis(Vec3f(odeVec[0], odeVec[1], odeVec[3]));
setGravityMode(dBodyGetGravityMode(_BodyID));
dMass TheMass;
dBodyGetMass(_BodyID, &TheMass);
setMassStruct(TheMass);
}
void CIrrOdeWorld::initPhysics() {
if (m_bPhysicsInitialized) return;
m_iNodesInitialized=0;
CIrrOdeSceneNode::initPhysics();
m_iWorldId=m_pOdeDevice->worldCreate();
m_iJointGroupId=m_pOdeDevice->jointGroupCreate(0);
if (!m_pWorldSpace) m_pWorldSpace=new CIrrOdeSpace(this,m_pSceneManager);
if (m_pWorldSpace!=NULL) m_pWorldSpace->initPhysics();
setLinearDamping (m_fDampingLinear );
setAngularDamping (m_fDampingAngular );
setLinearDampingThreshold (m_fDampingLinearThreshold );
setAngularDampingThreshold(m_fDampingAngularThreshold);
setAutoDisableFlag (m_iAutoDisableFlag );
setAutoDisableLinearThreshold (m_fAutoDisableLinearThreshold );
setAutoDisableAngularThreshold(m_fAutoDisableAngularThreshold);
setAutoDisableSteps (m_iAutoDisableSteps );
setAutoDisableTime (m_fAutoDisableTime );
setGravity(m_cGravity);
if (m_fMaxAngularSpeed!=_DEFAULT_MAX_ANGULAR_SPEED) setMaxAngularSpeed(m_fMaxAngularSpeed);
#ifdef _TRACE_INIT_PHYSICS
printf("world created .. id=%i\n",(int)m_iWorldId);
#endif
irr::core::list<CIrrOdeSpace *>::Iterator s;
for (s=m_pSpaces.begin(); s!=m_pSpaces.end(); s++) {
#ifdef _TRACE_INIT_PHYSICS
printf("CIrrOdeWorld::initPhysics: init space\n");
#endif
CIrrOdeSpace *pSpace=(*s);
pSpace->initPhysics();
}
irr::core::list<CIrrOdeGeom *>::Iterator i;
for (i=m_pGeoms.begin(); i!=m_pGeoms.end(); i++) {
#ifdef _TRACE_INIT_PHYSICS
printf("CIrrOdeWorld::initPhysics: init geom\n");
#endif
CIrrOdeGeom *pGeom=(*i);
pGeom->initPhysics();
}
irr::core::list<CIrrOdeBody *>::Iterator b,ib2;
for (b=m_pBodies.begin(); b!=m_pBodies.end(); b++) {
#ifdef _TRACE_INIT_PHYSICS
printf("CIrrOdeWorld::initPhysics: init body\n");
#endif
CIrrOdeBody *b1=*b;
b1->initPhysics();
}
irr::core::list<irr::ode::IIrrOdeStepMotor *>::Iterator it;
for (it=m_lStepMotors.begin(); it!=m_lStepMotors.end(); it++) (*it)->initPhysics();
m_bPhysicsInitialized = true;
}
