float World::CalcKE(const RigidBody& rigidBody)
{
float fInvMass = rigidBody.GetInverseMass();
const Matrix3& rkInertia = rigidBody.GetWorldInertia();
const Vector3& rkPos = rigidBody.GetPosition();
const Vector3& rkLinMom = rigidBody.GetLinearMomentum();
const Matrix3& rkROrient = rigidBody.GetROrientation();
const Vector3& rkAngVel = rigidBody.GetAngularVelocity();
return fInvMass*rkLinMom.Dot(rkLinMom) +
rkAngVel.Dot(rkInertia*rkAngVel);
}
BoundingBox CollisionShape::GetWorldBoundingBox() const
{
if (shape_ && node_)
{
// Use the rigid body's world transform if possible, as it may be different from the rendering transform
RigidBody* body = GetComponent<RigidBody>();
Matrix3x4 worldTransform = body ? Matrix3x4(body->GetPosition(), body->GetRotation(), node_->GetWorldScale()) :
node_->GetWorldTransform();
Vector3 worldPosition(worldTransform * position_);
Quaternion worldRotation(worldTransform.Rotation() * rotation_);
btTransform shapeWorldTransform(ToBtQuaternion(worldRotation), ToBtVector3(worldPosition));
btVector3 aabbMin, aabbMax;
shape_->getAabb(shapeWorldTransform, aabbMin, aabbMax);
return BoundingBox(ToVector3(aabbMin), ToVector3(aabbMax));
}
else
return BoundingBox();
}
void CollisionShape::DrawDebugGeometry(DebugRenderer* debug, bool depthTest)
{
if (debug && physicsWorld_ && shape_ && node_ && IsEnabledEffective())
{
physicsWorld_->SetDebugRenderer(debug);
physicsWorld_->SetDebugDepthTest(depthTest);
// Use the rigid body's world transform if possible, as it may be different from the rendering transform
Matrix3x4 worldTransform;
RigidBody* body = GetComponent<RigidBody>();
bool bodyActive = false;
if (body)
{
worldTransform = Matrix3x4(body->GetPosition(), body->GetRotation(), node_->GetWorldScale());
bodyActive = body->IsActive();
}
else
worldTransform = node_->GetWorldTransform();
Vector3 position = position_;
// For terrains, undo the height centering performed automatically by Bullet
if (shapeType_ == SHAPE_TERRAIN && geometry_)
{
HeightfieldData* heightfield = static_cast<HeightfieldData*>(geometry_.Get());
position.y_ += (heightfield->minHeight_ + heightfield->maxHeight_) * 0.5f;
}
Vector3 worldPosition(worldTransform * position);
Quaternion worldRotation(worldTransform.Rotation() * rotation_);
btDiscreteDynamicsWorld* world = physicsWorld_->GetWorld();
world->debugDrawObject(btTransform(ToBtQuaternion(worldRotation), ToBtVector3(worldPosition)), shape_, bodyActive ?
WHITE : GREEN);
physicsWorld_->SetDebugRenderer(0);
}
}
