//--------------------------------------------------------------
ofVec3f ofxBulletJoint::getPivotAWorldPos() {
btQuaternion rotQuat = _joint->getCalculatedTransformA().getRotation();
btVector3 btaxis = rotQuat.getAxis();
btVector3 frameA = _joint->getFrameOffsetA().getOrigin();
ofVec3f dir = ofVec3f(frameA.getX(), frameA.getY(), frameA.getZ());
dir.normalize();
dir.rotateRad(rotQuat.getAngle(), ofVec3f(btaxis.getX(), btaxis.getY(), btaxis.getZ() ));
dir *= -frameA.length();
return dir + getPivotBWorldPos();
}
//--------------------------------------------------------------
// draws the length of the joint and locations of pivots, but if bodies are sprung more than the length,
// will not connect all the way //
void ofxBulletJoint::drawJointConstraints() {
ofVec3f pa = getPivotAWorldPos();
ofVec3f pb = getPivotBWorldPos();
ofLine( pa, pb );
ofSetColor(255, 0, 0);
ofDrawSphere(pa, .5);
ofSetColor(0, 0, 255);
ofDrawSphere(pb, .5);
}
//--------------------------------------------------------------
// draws the length of the joint and locations of pivots, but if bodies are sprung more than the length,
// will not connect all the way //
void ofxBulletJoint::drawJointConstraints() {
ofVec3f pa = getPivotAWorldPos();
ofVec3f pb = getPivotBWorldPos();
glBegin(GL_LINES);
glVertex3f(pa.x, pa.y, pa.z);
glVertex3f(pb.x, pb.y, pb.z);
glEnd();
ofSetColor(255, 0, 0);
ofSphere(pa, .5);
ofSetColor(0, 0, 255);
ofSphere(pb, .5);
}
