void FractureBodyInfo::addBody(
int shape_id,
const btVector3& inertia,
btScalar mass,
btScalar elasticLimit,
btScalar plasticLimit)
{
btCollisionShape* shape = m_shape->getChildShape(shape_id);
btAssert(!shape->isCompound()); // compound children not suported
setConId(*shape, m_connections.size());
btVector3 shape_inertia(inertia);
if (inertia.isZero())
{
shape->calculateLocalInertia(mass, shape_inertia);
}
btRigidBody::btRigidBodyConstructionInfo info(mass, 0, shape, shape_inertia);
btRigidBody* body = new btRigidBody(info);
FractureBody::Connection connection;
connection.m_body = body;
connection.m_elasticLimit = elasticLimit;
connection.m_plasticLimit = plasticLimit;
connection.m_accImpulse = 0;
connection.m_shapeId = shape_id;
m_connections.push_back(connection);
}
// Movement for free moving cameras
void _Camera::HandleMove(const btVector3 &Direction, float Speed) {
switch(Type) {
case FREEMOVE: {
if(!Direction.isZero()) {
btVector3 Move(Direction);
Move.normalize();
Move *= Speed;
btQuaternion Orientation(Game.Camera->getOrientation().x, Game.Camera->getOrientation().y, Game.Camera->getOrientation().z, Game.Camera->getOrientation().w);
Velocity = quatRotate(Orientation, Move);
}
else
Velocity.setZero();
} break;
}
}
void ComputeController(btVector3 ¤tSpeed, const btVector3 &delta, const btVector3 &maxSpeed, float scaleDelta, float damping) {
// Timestep scale
btVector3 acceleration = delta * scaleDelta;
if (currentSpeed.fuzzyZero() && !currentSpeed.isZero()) {
currentSpeed.setZero();
}
acceleration += currentSpeed * -damping;
// Clamp the acceleration to max speed
for(int i = 2; i >= 0; i--) {
if (fabs(acceleration[i]) < maxSpeed[i]) continue;
acceleration[i] = (acceleration[i] < 0) ? -maxSpeed[i] : maxSpeed[i];
}
currentSpeed += acceleration;
}
