void SetTransform(const Transformation& t){
Mat44 mat4;
t.GetHomogeneous(mat4);
auto aT = FBToBullet(mat4);
mSelf->setWorldTransform(aT);
auto numConstraints = mSelf->getNumConstraintRefs();
for (int i = 0; i < numConstraints; ++i){
auto con = mSelf->getConstraintRef(i);
if (con->isEnabled() && con->getConstraintType() == D6_SPRING_2_CONSTRAINT_TYPE){
btFixedConstraint* fixedCon = (btFixedConstraint*)con;
auto a = &con->getRigidBodyA();
auto b = &con->getRigidBodyB();
auto trA = fixedCon->getFrameOffsetA();
auto trB = fixedCon->getFrameOffsetB();
if (b->getUserPointer() == mSelf){
std::swap(a, b);
std::swap(trA, trB);
}
auto bT = aT * trA * trB.inverse();
b->setWorldTransform(bT);
auto ms = b->getMotionState();
if (ms)
ms->setWorldTransform(bT);
}
}
mSelf->activate();
}
void SetTransform(const Transformation& t){
Mat44 mat4;
t.GetHomogeneous(mat4);
auto aT = FBToBullet(mat4);
VectorMap<void*, int> mSet;
SetTransform(aT, mSet);
}
//----------------------------------------------------------------------------
void Update()
{
if (mOverridingCamera){
mOverridingCamera->Update();
}
// world coordinates (Blender style)
// x: right
// y: forward
// z: up
bool viewChanged = mViewPropertyChanged;
if (mViewPropertyChanged)
{
mViewPropertyChanged = false;
Vec3 right = mTransformation.GetMatrix().Column(0);
Vec3 forward = mTransformation.GetMatrix().Column(1);
Vec3 up = mTransformation.GetMatrix().Column(2);
const Vec3& pos = mTransformation.GetTranslation();
mMatrices[View] = fb::MakeViewMatrix(pos, right, forward, up);
mTransformation.GetHomogeneous(mMatrices[InverseView]);
mFrustum.mOrigin = mTransformation.GetTranslation();
mFrustum.mOrientation = mTransformation.GetRotation();
}
bool projChanged = mProjPropertyChanged;
if (mProjPropertyChanged)
{
mAspectRatio = GetWidth() / (Real)GetHeight();
mProjPropertyChanged = false;
if (!mOrthogonal)
{
mMatrices[ProjBeforeSwap] = mMatrices[Proj] =
MakeProjectionMatrix(mFov, mAspectRatio, mNear, mFar);
}
else
{
mMatrices[ProjBeforeSwap] = mMatrices[Proj] =
MakeOrthogonalMatrix((Real)mOrthogonalData.left, (Real)mOrthogonalData.top,
(Real)mOrthogonalData.right, (Real)mOrthogonalData.bottom,
mNear, mFar);
}
if (mYZSwap)
{
Mat44 swapMat(
1, 0, 0, 0,
0, 0, 1, 0,
0, 1, 0, 0,
0, 0, 0, 1);
mMatrices[Proj] = mMatrices[Proj] * swapMat;
}
mMatrices[InverseProj] = mMatrices[Proj].Inverse();
mFrustum.SetData(mNear, mFar, mFov, mAspectRatio);
}
if (projChanged || viewChanged)
{
mMatrices[ViewProj] = mMatrices[Proj] * mMatrices[View];
mMatrices[InverseViewProj] = mMatrices[ViewProj].Inverse();
UpdateFrustum();
if (viewChanged && !mSelf->mObservers_.empty()){
auto& observers = mSelf->mObservers_[TransformChanged];
for (auto it = observers.begin(); it != observers.end(); /**/){
auto observer = it->lock();
if (!observer){
it = observers.erase(it);
continue;
}
++it;
observer->OnViewMatrixChanged();
}
}
if (projChanged && !mSelf->mObservers_.empty()){
auto& observers = mSelf->mObservers_[TransformChanged];
for (auto it = observers.begin(); it != observers.end(); /**/){
auto observer = it->lock();
if (!observer){
it = observers.erase(it);
continue;
}
++it;
observer->OnProjMatrixChanged();
}
}
mRayCache.clear();
}
}
