// add force and torque to rigid body
void PhysicsSetTransform (const NewtonBody* body, const dFloat* matrix)
{
RenderPrimitive* primitive;
// get the graphic object form the rigid body
primitive = (RenderPrimitive*) NewtonBodyGetUserData (body);
// set the transformation matrix for this rigid body
dMatrix& mat = *((dMatrix*)matrix);
primitive->SetMatrix (mat);
}
//-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~
// set the transformation of a rigid body
void
PhysicsActor::TransformCallback(const NewtonBody* _body, const Zen::Math::Real* _matrix)
{
void* pBody = NewtonBodyGetUserData(_body);
if (pBody != NULL)
{
PhysicsActor* pShape = static_cast<PhysicsActor*>(pBody);
// Only use the transform callback if the state is active
if (pShape->m_activationState != 0)
{
Math::Matrix4 transform;
for(int x = 0; x < 16; x++)
{
transform.m_array[x] = _matrix[x];
}
TransformEventData evenData(*pShape, transform);
pShape->onTransformEvent(evenData);
}
}
#if 0
// HACK Keep the object to a constant velocity
Math::Vector3 velocity;
NewtonBodyGetVelocity(_body, velocity.m_array);
velocity.normalize();
velocity = velocity * 50;
NewtonBodySetVelocity(_body, velocity.m_array);
#endif
//std::cout << "TransformCallback()" << std::endl;
#if 0
RenderPrimitive* primitive;
// get the graphic object form the rigid body
primitive = (RenderPrimitive*) NewtonBodyGetUserData (body);
// set the transformation matrix for this rigid body
dMatrix& mat = *((dMatrix*)matrix);
primitive->SetMatrix (mat);
#endif
}
