Esempio n. 1
0
void CIrrOdeWorld::setAngularDampingThreshold(f32 fThreshold) {
    m_fDampingAngularThreshold=fThreshold;
    if (m_iWorldId) m_pOdeDevice->worldSetAngularDampingThreshold(m_iWorldId,fThreshold);
#ifdef _TRACE_CHANGED_PROPERTIES
    printf("world %i: angular damping threshhold: %.5f\n",(s32)m_iWorldId,getAngularDampingThreshold());
#endif
}
void PhysicsBody::changed(ConstFieldMaskArg whichField, 
        UInt32            origin,
        BitVector         details)
{
    Inherited::changed(whichField, origin, details);

    //Do not respond to changes that have a Sync origin
    if(origin & ChangedOrigin::Sync)
    {
        return;
    }

    if(whichField & WorldFieldMask)
    {
        if(_BodyID != 0)
        {
            dBodyDestroy(_BodyID);
        }

        if(getWorld() != NULL)
        {
            _BodyID = dBodyCreate(getWorld()->getWorldID());
        }
    }
    if(   ((whichField & PositionFieldMask)
                || (whichField & WorldFieldMask))
            && getWorld() != NULL)
    {
        dBodySetPosition(_BodyID, getPosition().x(),getPosition().y(),getPosition().z());
    }
    if(   ((whichField & RotationFieldMask)
                || (whichField & WorldFieldMask))
            && getWorld() != NULL)
    {
        dMatrix3 rotation;
        Vec4f v1 =  getRotation()[0];
        Vec4f v2 =  getRotation()[1];
        Vec4f v3 =  getRotation()[2];
        rotation[0]   = v1.x();
        rotation[1]   = v1.y();
        rotation[2]   = v1.z();
        rotation[3]   = 0;
        rotation[4]   = v2.x();
        rotation[5]   = v2.y();
        rotation[6]   = v2.z();
        rotation[7]   = 0;
        rotation[8]   = v3.x();
        rotation[9]   = v3.y();
        rotation[10]  = v3.z();
        rotation[11]  = 0;
        dBodySetRotation(_BodyID, rotation);
    }
    if(   ((whichField & QuaternionFieldMask)
                || (whichField & WorldFieldMask))
            && getWorld() != NULL)
    {
        dQuaternion q;
        q[0]=getQuaternion().w();
        q[1]=getQuaternion().x();
        q[2]=getQuaternion().y();
        q[3]=getQuaternion().z();
        dBodySetQuaternion(_BodyID,q);
    }
    if(   ((whichField & LinearVelFieldMask)
                || (whichField & WorldFieldMask))
            && getWorld() != NULL)
    {
        dBodySetLinearVel(_BodyID, getLinearVel().x(),getLinearVel().y(),getLinearVel().z());
    }
    if(   ((whichField & AngularVelFieldMask)
                || (whichField & WorldFieldMask))
            && getWorld() != NULL)
    {
        dBodySetAngularVel(_BodyID, getAngularVel().x(),getAngularVel().y(),getAngularVel().z());
    }
    if(   ((whichField & ForceFieldMask)
                || (whichField & WorldFieldMask))
            && getWorld() != NULL)
    {
        dBodySetForce(_BodyID, getForce().x(),getForce().y(),getForce().z());
    }
    if(   ((whichField & TorqueFieldMask)
                || (whichField & WorldFieldMask))
            && getWorld() != NULL)
    {
        dBodySetTorque(_BodyID, getTorque().x(),getTorque().y(),getTorque().z());
    }
    if(   ((whichField & AutoDisableFlagFieldMask)
                || (whichField & WorldFieldMask))
            && getWorld() != NULL)
    {
        dBodySetAutoDisableFlag(_BodyID, getAutoDisableFlag());
    }
    if(   ((whichField & AutoDisableLinearThresholdFieldMask)
                || (whichField & WorldFieldMask))
            && getWorld() != NULL)
    {
        dBodySetAutoDisableLinearThreshold(_BodyID, getAutoDisableLinearThreshold());
    }
    if(   ((whichField & AutoDisableAngularThresholdFieldMask)
                || (whichField & WorldFieldMask))
            && getWorld() != NULL)
    {
        dBodySetAutoDisableAngularThreshold(_BodyID, getAutoDisableAngularThreshold());
    }
    if(   ((whichField & AutoDisableStepsFieldMask)
                || (whichField & WorldFieldMask))
            && getWorld() != NULL)
    {
        dBodySetAutoDisableSteps(_BodyID, getAutoDisableSteps());
    }
    if(   ((whichField & AutoDisableTimeFieldMask)
                || (whichField & WorldFieldMask))
            && getWorld() != NULL)
    {
        dBodySetAutoDisableTime(_BodyID, getAutoDisableTime());
    }
    if(   ((whichField & FiniteRotationModeFieldMask)
                || (whichField & WorldFieldMask))
            && getWorld() != NULL)
    {
        dBodySetFiniteRotationMode(_BodyID, getFiniteRotationMode());
    }
    if(   ((whichField & FiniteRotationModeFieldMask)
                || (whichField & WorldFieldMask))
            && getWorld() != NULL)
    {
        dBodySetFiniteRotationMode(_BodyID, getFiniteRotationMode());
    }
    if(   ((whichField & FiniteRotationAxisFieldMask)
                || (whichField & WorldFieldMask))
            && getWorld() != NULL)
    {
        dBodySetFiniteRotationAxis(_BodyID, getFiniteRotationAxis().x(),getFiniteRotationAxis().y(),getFiniteRotationAxis().z());
    }
    if(   ((whichField & GravityModeFieldMask)
                || (whichField & WorldFieldMask))
            && getWorld() != NULL)
    {
        dBodySetGravityMode(_BodyID, getGravityMode());
    }
    if(   ((whichField & LinearDampingFieldMask)
                || (whichField & WorldFieldMask))
            && getWorld() != NULL)
    {
        dBodySetLinearDamping(_BodyID, getLinearDamping());
    }
    if(   ((whichField & AngularDampingFieldMask)
                || (whichField & WorldFieldMask))
            && getWorld() != NULL)
    {
        dBodySetAngularDamping(_BodyID, getAngularDamping());
    }
    if(   ((whichField & LinearDampingThresholdFieldMask)
                || (whichField & WorldFieldMask))
            && getWorld() != NULL)
    {
        dBodySetLinearDampingThreshold(_BodyID, getLinearDampingThreshold());
    }
    if(   ((whichField & AngularDampingThresholdFieldMask)
                || (whichField & WorldFieldMask))
            && getWorld() != NULL)
    {
        dBodySetAngularDampingThreshold(_BodyID, getAngularDampingThreshold());
    }
    if(   ((whichField & MaxAngularSpeedFieldMask)
                || (whichField & WorldFieldMask))
            && getWorld() != NULL)
    {
        if(getMaxAngularSpeed() >= 0.0)
        {
            dBodySetMaxAngularSpeed(_BodyID, getMaxAngularSpeed());
        }
        else
        {
            dBodySetMaxAngularSpeed(_BodyID, dInfinity);
        }
    }

    if(   ((whichField & MassFieldMask)
                || (whichField & WorldFieldMask))
            && getWorld() != NULL)
    {
        dMass TheMass;
        dBodyGetMass(_BodyID, &TheMass);

        TheMass.mass = getMass();

        dBodySetMass(_BodyID, &TheMass);
    }
    if(   ((whichField & MassCenterOfGravityFieldMask)
                || (whichField & WorldFieldMask))
            && getWorld() != NULL)
    {
        //dMass TheMass;
        //dBodyGetMass(_BodyID, &TheMass);

        ////TheMass.c[0] = getMassCenterOfGravity().x();
        ////TheMass.c[1] = getMassCenterOfGravity().y();
        ////TheMass.c[2] = getMassCenterOfGravity().z();

        //Vec4f v1 =  getMassInertiaTensor()[0];
        //Vec4f v2 =  getMassInertiaTensor()[1];
        //Vec4f v3 =  getMassInertiaTensor()[2];
        //TheMass.I[0]   = v1.x();
        //TheMass.I[1]   = v1.y();
        //TheMass.I[2]   = v1.z();
        //TheMass.I[3]   = getMassCenterOfGravity().x();
        //TheMass.I[4]   = v2.x();
        //TheMass.I[5]   = v2.y();
        //TheMass.I[6]   = v2.z();
        //TheMass.I[7]   = getMassCenterOfGravity().y();
        //TheMass.I[8]   = v3.x();
        //TheMass.I[9]   = v3.y();
        //TheMass.I[10]  = v3.z();
        //TheMass.I[11]  = getMassCenterOfGravity().z();

        //dBodySetMass(_BodyID, &TheMass);
    }
    if(   ((whichField & MassInertiaTensorFieldMask)
                || (whichField & WorldFieldMask))
            && getWorld() != NULL)
    {
        dMass TheMass;
        dBodyGetMass(_BodyID, &TheMass);

        Vec4f v1 =  getMassInertiaTensor()[0];
        Vec4f v2 =  getMassInertiaTensor()[1];
        Vec4f v3 =  getMassInertiaTensor()[2];
        TheMass.I[0]   = v1.x();
        TheMass.I[1]   = v1.y();
        TheMass.I[2]   = v1.z();
        TheMass.I[3]   = 0;
        TheMass.I[4]   = v2.x();
        TheMass.I[5]   = v2.y();
        TheMass.I[6]   = v2.z();
        TheMass.I[7]   = 0;
        TheMass.I[8]   = v3.x();
        TheMass.I[9]   = v3.y();
        TheMass.I[10]  = v3.z();
        TheMass.I[11]  = 0;

        dBodySetMass(_BodyID, &TheMass);
    }
    if(   ((whichField & KinematicFieldMask)
                || (whichField & WorldFieldMask))
            && getWorld() != NULL)
    {
        if(getKinematic())
        {
            dBodySetKinematic(_BodyID);
        }
        else
        {
            dBodySetDynamic(_BodyID);
        }
    }
}