void Hinge2Vehicle::resetForklift() { gVehicleSteering = 0.f; gBreakingForce = defaultBreakingForce; gEngineForce = 0.f; m_carChassis->setCenterOfMassTransform(btTransform::getIdentity()); m_carChassis->setLinearVelocity(btVector3(0,0,0)); m_carChassis->setAngularVelocity(btVector3(0,0,0)); m_dynamicsWorld->getBroadphase()->getOverlappingPairCache()->cleanProxyFromPairs(m_carChassis->getBroadphaseHandle(),getDynamicsWorld()->getDispatcher()); #if 0 if (m_vehicle) { m_vehicle->resetSuspension(); for (int i=0;i<m_vehicle->getNumWheels();i++) { //synchronize the wheels with the (interpolated) chassis worldtransform m_vehicle->updateWheelTransform(i,true); } } #endif btTransform liftTrans; liftTrans.setIdentity(); liftTrans.setOrigin(m_liftStartPos); m_liftBody->activate(); m_liftBody->setCenterOfMassTransform(liftTrans); m_liftBody->setLinearVelocity(btVector3(0,0,0)); m_liftBody->setAngularVelocity(btVector3(0,0,0)); btTransform forkTrans; forkTrans.setIdentity(); forkTrans.setOrigin(m_forkStartPos); m_forkBody->activate(); m_forkBody->setCenterOfMassTransform(forkTrans); m_forkBody->setLinearVelocity(btVector3(0,0,0)); m_forkBody->setAngularVelocity(btVector3(0,0,0)); // m_liftHinge->setLimit(-LIFT_EPS, LIFT_EPS); m_liftHinge->setLimit(0.0f, 0.0f); m_liftHinge->enableAngularMotor(false, 0, 0); m_forkSlider->setLowerLinLimit(0.1f); m_forkSlider->setUpperLinLimit(0.1f); m_forkSlider->setPoweredLinMotor(false); btTransform loadTrans; loadTrans.setIdentity(); loadTrans.setOrigin(m_loadStartPos); m_loadBody->activate(); m_loadBody->setCenterOfMassTransform(loadTrans); m_loadBody->setLinearVelocity(btVector3(0,0,0)); m_loadBody->setAngularVelocity(btVector3(0,0,0)); }
void rotateBody(const btScalar& yaw, const btScalar& roll, const btScalar& pitch) // yaw roll pitch in radian { btRigidBody* rb = rigidbody; // current transform btTransform trans; trans = rb->getCenterOfMassTransform(); // rotation transform btTransform rotation; rotation.setIdentity(); btQuaternion quat; quat.setEuler( yaw, roll, pitch); //or quat.setEulerZYX depending on the ordering you want rotation.setRotation(quat); // update transform rotation *= trans; // update COM rigidbody->setCenterOfMassTransform(rotation); }