CVector PhysicObject::getPhysPosition() {
if (!rigidBody)
return initialPosition;
btTransform trans;
if (getIsKinematic()) {
rigidBody->getMotionState()->getWorldTransform(trans);
} else {
trans = rigidBody->getWorldTransform();
}
CVector res = CVector(trans.getOrigin().getX() * 100.0f, trans.getOrigin().getY() * 100.0f, trans.getOrigin().getZ() * 100.0f);
return res;
}
void PhysXRigidbody::rotate(const Quaternion& rotation)
{
if (getIsKinematic())
{
PxTransform target;
if (!mInternal->getKinematicTarget(target))
target = PxTransform(PxIdentity);
target.q = toPxQuaternion(rotation);
mInternal->setKinematicTarget(target);
}
else
{
setTransform(getPosition(), rotation);
}
}
void PhysXRigidbody::move(const Vector3& position)
{
if (getIsKinematic())
{
PxTransform target;
if (!mInternal->getKinematicTarget(target))
target = PxTransform(PxIdentity);
target.p = toPxVector(position);
mInternal->setKinematicTarget(target);
}
else
{
setTransform(position, getRotation());
}
}
void PhysicObject::setPhysPosition(CVector pos) {
if (rigidBody) {
btTransform trans;
if (getIsKinematic()) {
rigidBody->getMotionState()->getWorldTransform(trans);
trans.setOrigin(btVector3(pos.x / 100.0f, pos.y / 100.0f, pos.z / 100.0f));
rigidBody->getMotionState()->setWorldTransform(trans);
} else {
trans = rigidBody->getWorldTransform();
trans.setOrigin(btVector3(pos.x / 100.0f, pos.y / 100.0f, pos.z / 100.0f));
rigidBody->setWorldTransform(trans);
}
return;
}
initialPosition = pos / 100.0f;
}