bool bulletSimulation::SetFrame(int in_Frame)
{
// see if we have to reset the world
if(in_Frame <= 0)
{
ResetWorld();
return true;
}
// now let's skip if we already have that frame or the interval>5 - we don't want bullet to compute the whole sequence if you move to the last frame.
if(mLastFrame >= in_Frame || (in_Frame-mLastFrame)>5)
{
return false;
}
mChangingFrame = true;
// if this is not the first frame, let's update all rbd!
for(btRigidBodyIt it = mRigidBodies.begin();it!=mRigidBodies.end();it++)
{
// skip corrupt bodies
if(it->second->body==NULL)
continue;
if(it->first.secondary != -1)
continue;
btCollisionShape * shape = (btBoxShape*)it->second->body->getCollisionShape();
if(shape != NULL)
{
// refresh the kine ptr
it->second->kine.Set(it->second->kine.GetAsText());
XSI::MATH::CTransformation xf = XSI::KinematicState(it->second->kine).GetTransform();//(float)in_Frame);
shape->setLocalScaling(btVector3(xf.GetSclX(),xf.GetSclY(),xf.GetSclZ()));
// skip non valid ops
if(!it->second->op.IsValid())
continue;
// update the mass an inertia
it->second->mass = XSI::CustomOperator(it->second->op).GetParameterValue(L"mass");
btVector3 inertia(0,0,0);
if(it->second->mass > 0.0f)
shape->calculateLocalInertia(it->second->mass,inertia);
it->second->body->setMassProps(it->second->mass,inertia);
// if we are passive rigid body, let's update the transform
if(it->second->mass == 0.0f)
{
btDefaultMotionState * motionState = (btDefaultMotionState*)it->second->body->getMotionState();
if(motionState != NULL)
{
btTransform transform;
transform.setOrigin(btVector3(xf.GetPosX(),xf.GetPosY(),xf.GetPosZ()));
XSI::MATH::CQuaternion q = xf.GetRotationQuaternion();
transform.setRotation(btQuaternion(q.GetX(),q.GetY(),q.GetZ(),q.GetW()));
it->second->body->proceedToTransform( transform );
}
}
}
}
// step to the given frame
if(in_Frame > 0)
{
while(in_Frame > mLastFrame)
{
float dt=(1.0f/mFps)/(float)mSubSteps;
//Step every subframe
for (int i=0;i<mSubSteps;i++)
mDynamicsWorld->stepSimulation(dt,0,1.0f/mFps);
mLastFrame++;
}
}
mLastFrame = in_Frame;
mChangingFrame = false;
return true;
}
