void CPhysicsActor::SetAngularDamping( float damping )
{
if( !IsKinematic() )
{
m_Actor->setAngularDamping( damping );
}
}
//-----------------------------------------------------------------------------
// MoveWorldOrientation
//-----------------------------------------------------------------------------
//!!
void CPhysicObj::MoveWorldOrientation(const NxMat33 &mOrient)
{
assert( m_bActivated && IsKinematic());
for (int i=0; i<GetNumParts(); i++) {
MoveWorldOrientation(i, mOrient);
}
}
//-----------------------------------------------------------------------------
// MoveWorldPosition
//-----------------------------------------------------------------------------
//!!
void CPhysicObj::MoveWorldPosition (const NxVec3 &vPos)
{
assert( m_bActivated && IsKinematic());
for (int i=0; i<GetNumParts(); i++) {
MoveWorldPosition(i, vPos);
}
}
void CPhysicsActor::ForceKinematic()
{
// Make sure that the actor is not static or already kinematic
if( !m_Actor->isDynamic() || IsKinematic() )
{
return;
}
m_Actor->raiseBodyFlag( NX_BF_KINEMATIC );
m_WasDynamic = true;
}
void CPhysicsActor::SetAngularMomentum( Vec3& momentum )
{
if( !IsKinematic() )
{
NxVec3 tmp( momentum.x, momentum.y, momentum.z );
if( !tmp.isFinite() )
{
m_ToolBox->Log( LOGERROR, _T("Invalid vector given to Physics!\n"));
return;
}
m_Actor->setAngularMomentum( tmp );
}
}
void CPhysicsActor::SetAngularVelocity( Vec3& velocity )
{
if( !IsKinematic() )
{
NxVec3 tmp( velocity.x, velocity.y, velocity.z );
if( !tmp.isFinite() )
{
m_ToolBox->Log( LOGERROR, _T("Invalid vector given to Physics!\n"));
return;
}
m_Actor->setAngularVelocity( tmp );
}
}
cpBody* RigidBody2D::Create(float mass, float moment)
{
cpBody* handle;
if (IsKinematic())
{
if (IsStatic())
handle = cpBodyNewStatic();
else
handle = cpBodyNewKinematic();
}
else
handle = cpBodyNew(mass, moment);
cpBodySetUserData(handle, this);
return handle;
}
void RigidBody2D::SetGeom(Collider2DRef geom, bool recomputeMoment)
{
// We have no public way of getting rid of an existing geom without removing the whole body
// So let's save some attributes of the body, destroy it and rebuild it
if (m_geom)
{
cpFloat mass = cpBodyGetMass(m_handle);
cpFloat moment = cpBodyGetMoment(m_handle);
cpBody* newHandle = Create(static_cast<float>(mass), static_cast<float>(moment));
CopyBodyData(m_handle, newHandle);
Destroy();
m_handle = newHandle;
}
if (geom)
m_geom = geom;
else
m_geom = NullCollider2D::New();
m_geom->GenerateShapes(this, &m_shapes);
cpSpace* space = m_world->GetHandle();
for (cpShape* shape : m_shapes)
cpShapeSetUserData(shape, this);
if (m_isSimulationEnabled)
RegisterToSpace();
if (recomputeMoment)
{
if (!IsStatic() && !IsKinematic())
cpBodySetMoment(m_handle, m_geom->ComputeMomentOfInertia(m_mass));
}
}
//-----------------------------------------------------------------------------
// MoveWorldOrientation
//-----------------------------------------------------------------------------
//!!
void CPhysicObj::MoveWorldOrientation(int nPartIdx, const NxMat33 &mOrient)
{
assert( m_bActivated && IsKinematic() && (nPartIdx < GetNumParts()));
GetActor(nPartIdx)->moveGlobalOrientation(mOrient);
}
//-----------------------------------------------------------------------------
// MoveWorldPosition
//-----------------------------------------------------------------------------
//!!
void CPhysicObj::MoveWorldPosition (int nPartIdx, const NxVec3 &vPos)
{
assert( m_bActivated && IsKinematic() && (nPartIdx < GetNumParts()));
GetActor(nPartIdx)->moveGlobalPosition(vPos);
}
