void RigidBody::_copyFrom(const ComponentBase *model)
{
init();
auto m = (RigidBody*)model;
#ifdef EDITOR_ENABLED
editorUpdate();
if (editorStruct)
{
editorStruct->copyDatas(m);
editorStruct->refreshDatas(this);
Link *link = entity.getLinkPtr();
if (isKinematic())
{
auto p = posFromMat4(link->getGlobalTransform());
setPosition(posFromMat4(link->getGlobalTransform()));
setRotation(link->getOrientation());
// global orientation not supported
}
}
#else
setAngularDrag(m->getAngularDrag());
setAngularVelocity(m->getAngularVelocity());
setCenterOfMass(m->getCenterOfMass());
setLinearDrag(m->getLinearDrag());
setLinearVelocity(m->getLinearVelocity());
setMass(m->getMass());
setDiagonalInertiaTensor(m->getDiagonalInertiaTensor());
setMaxAngularVelocity(m->getMaxAngularVelocity());
setMaxDepenetrationVelocity(m->getMaxDepenetrationVelocity());
affectByGravity(m->isAffectedByGravity());
setPosition(m->getPosition());
setRotation(m->getRotation());
setAsKinematic(m->isKinematic());
setCollisionDetectionMode(m->getCollisionDetectionMode());
#endif
}
//------------------------------
void MolState::align()
{
// Shift center of mass to the origin:
shiftCoordinates( getCenterOfMass() );
// Aligh moment of inertia principal axes:
KMatrix MOI_tensor(3,3), MOI_eigenValues(3,1), MOI_eigenVectors(3,3);
MOI_tensor = getMomentOfInertiaTensor();
//MOI_tensor.Print("Moment of inertia tensor");
MOI_eigenVectors=MOI_tensor.Herm_Diag(MOI_eigenValues, true); // true=>eigen vals in the descending order; eigen vectors in ROWS.
// MOI_eigenVectors.Print("MOI eigen vectors");
// MOI_eigenValues.Print("MOI eigen values");
// compute the determinant of MOI matrix:
double det_tmp = MOI_eigenVectors.Determinant();
// if determinant is = 1 than it is a proper rotation;
// if it is = -1 than it is rotation+reflection (switch from left handed to the right handed coord.system); swap x&y axes:
if (det_tmp < 0)
MOI_eigenVectors.SwapRows(0,1);
transformCoordinates(MOI_eigenVectors); // rotate coordinates using matrix of the MOI eigen vectors
std::cout << "Coordinate axes were aligned with MOI principal axes; center mass was shifted to the origin.\n";
}
Ogre::Vector3 OctreeSDF::getCenterOfMass()
{
float mass = 0.0f;
return getCenterOfMass(mass);
}
void CX3DOpenHRPSegmentNode::print(int indent)
{
FILE *fp = CX3DParser::getDebugLogFp();
int nMax = CX3DParser::getMaxPrintElemsForMFField();
bool bPartialPrint = false;
char *nodeName = getNodeName();
if (nodeName)
{
float x, y, z;
MFNode *nodes;
int i, n;
CX3DParser::printIndent(indent);
fprintf(fp, "%s (%s)\n", nodeName, CX3DNode::getNodeTypeString(getNodeType()));
CX3DParser::printIndent(indent+1);
fprintf(fp, "children\n");
nodes = getChildren();
n = nodes->count();
for (i=0; i<n; i++)
{
CX3DNode *child = nodes->getNode(i);
if (child)
{
child->print(indent+2);
}
}
CX3DParser::printIndent(indent+1);
fprintf(fp, "name (%s)\n", m_name.getValue());
CX3DParser::printIndent(indent+1);
fprintf(fp, "coord\n");
CX3DNode *pCoord = getCoord()->getNode();
if (pCoord) pCoord->print(indent+2);
CX3DParser::printIndent(indent+1);
getCenterOfMass()->getValue(x, y, z);
fprintf(fp, "centerOfMass : (%f %f %f)\n", x, y, z);
CX3DParser::printIndent(indent+1);
fprintf(fp, "displacers\n");
nodes = getDisplacers();
n = nodes->count();
for (i=0; i<n; i++)
{
CX3DNode *child = nodes->getNode(i);
if (child)
{
child->print(indent+2);
}
}
CX3DParser::printIndent(indent+1);
fprintf(fp, "mass (%f)\n", getMass()->getValue());
CX3DParser::printIndent(indent+1);
n = m_momentsOfInertia.count();
fprintf(fp, "momentsOfInertia [%d]\n", n);
if ((nMax > 0) && (n > nMax)) { n = nMax; bPartialPrint = true; }
else { bPartialPrint = false; }
CX3DParser::printIndent(indent+2);
fprintf(fp, "(");
for (i=0; i<n; i++)
{
fprintf(fp, "%f ", m_momentsOfInertia.getValue(i));
}
if (bPartialPrint) fprintf(fp, "...");
fprintf(fp, ")\n");
}
}
