TypedConstraint* CcdPhysicsEnvironment::getConstraintById(int constraintId)
{
int numConstraint = m_constraints.size();
int i;
for (i=0;i<numConstraint;i++)
{
TypedConstraint* constraint = m_constraints[i];
if (constraint->GetUserConstraintId()==constraintId)
{
return constraint;
}
}
return 0;
}
void CcdPhysicsEnvironment::removeConstraint(int constraintId)
{
std::vector<TypedConstraint*>::iterator i;
for (i=m_constraints.begin();
!(i==m_constraints.end()); i++)
{
TypedConstraint* constraint = (*i);
if (constraint->GetUserConstraintId() == constraintId)
{
std::swap(*i, m_constraints.back());
m_constraints.pop_back();
break;
}
}
}
void CcdPhysicsEnvironment::removeCcdPhysicsController(CcdPhysicsController* ctrl)
{
//also remove constraint
{
std::vector<TypedConstraint*>::iterator i;
for (i=m_constraints.begin();
!(i==m_constraints.end()); i++)
{
TypedConstraint* constraint = (*i);
if ((&constraint->GetRigidBodyA() == ctrl->GetRigidBody() ||
(&constraint->GetRigidBodyB() == ctrl->GetRigidBody())))
{
removeConstraint(constraint->GetUserConstraintId());
//only 1 constraint per constroller
break;
}
}
}
{
std::vector<TypedConstraint*>::iterator i;
for (i=m_constraints.begin();
!(i==m_constraints.end()); i++)
{
TypedConstraint* constraint = (*i);
if ((&constraint->GetRigidBodyA() == ctrl->GetRigidBody() ||
(&constraint->GetRigidBodyB() == ctrl->GetRigidBody())))
{
removeConstraint(constraint->GetUserConstraintId());
//only 1 constraint per constroller
break;
}
}
}
m_collisionWorld->RemoveCollisionObject(ctrl->GetRigidBody());
{
std::vector<CcdPhysicsController*>::iterator i =
std::find(m_controllers.begin(), m_controllers.end(), ctrl);
if (!(i == m_controllers.end()))
{
std::swap(*i, m_controllers.back());
m_controllers.pop_back();
}
}
//remove it from the triggers
{
std::vector<CcdPhysicsController*>::iterator i =
std::find(m_triggerControllers.begin(), m_triggerControllers.end(), ctrl);
if (!(i == m_triggerControllers.end()))
{
std::swap(*i, m_triggerControllers.back());
m_triggerControllers.pop_back();
}
}
}
