void BtBody::applyImpulse( const Point3F &origin, const Point3F &force )
{
AssertFatal( mActor, "BtBody::applyImpulse - The actor is null!" );
AssertFatal( isDynamic(), "BtBody::applyImpulse - This call is only for dynamics!" );
// Convert the world position to local
MatrixF trans = btCast<MatrixF>( mActor->getCenterOfMassTransform() );
trans.inverse();
Point3F localOrigin( origin );
trans.mulP( localOrigin );
if ( mCenterOfMass )
{
Point3F relOrigin( localOrigin );
mCenterOfMass->mulP( relOrigin );
Point3F relForce( force );
mCenterOfMass->mulV( relForce );
mActor->applyImpulse( btCast<btVector3>( relForce ), btCast<btVector3>( relOrigin ) );
}
else
mActor->applyImpulse( btCast<btVector3>( force ), btCast<btVector3>( localOrigin ) );
if ( !mActor->isActive() )
mActor->activate();
}
void btHeightfieldTerrainShape::getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const
{
btVector3 halfExtents = (m_localAabbMax-m_localAabbMin)* m_localScaling * btScalar(0.5);
btVector3 localOrigin(0, 0, 0);
localOrigin[m_upAxis] = (m_minHeight + m_maxHeight) * btScalar(0.5);
localOrigin *= m_localScaling;
btMatrix3x3 abs_b = t.getBasis().absolute();
btVector3 center = t.getOrigin();
btVector3 extent = halfExtents.dot3(abs_b[0], abs_b[1], abs_b[2]);
extent += btVector3(getMargin(),getMargin(),getMargin());
aabbMin = center - extent;
aabbMax = center + extent;
}
/*
============
hhPhysics_StaticWeapon::Evaluate
============
*/
bool hhPhysics_StaticWeapon::Evaluate( int timeStepMSec, int endTimeMSec ) {
if( !selfOwner ) {
return false;
}
idMat3 localAxis;
idVec3 localOrigin( 0.0f, 0.0f, selfOwner->EyeHeight() );
idAngles pitchAngles( selfOwner->GetUntransformedViewAngles().pitch, 0.0f, 0.0f );
if( selfOwner->InVehicle() ) {
localAxis = pitchAngles.ToMat3();
} else {
localAxis = ( pitchAngles + selfOwner->GunTurningOffset() ).ToMat3();
localOrigin += selfOwner->GunAcceleratingOffset();
if ( castSelf ) {
castSelf->MuzzleRise( localOrigin, localAxis );
}
}
SetLocalAxis( localAxis );
SetLocalOrigin( localOrigin );
return idPhysics_Static::Evaluate( timeStepMSec, endTimeMSec );
}
