//init the rigid bodies to it's first frame configuration
void dSolverNode::initRigidBodies(MPlugArray &rbConnections)
{
for(size_t i = 0; i < rbConnections.length(); ++i) {
MObject node = rbConnections[i].node();
MFnDependencyNode fnNode(node);
if(fnNode.typeId() == rigidBodyNode::typeId) {
initRigidBody(node);
} else if(fnNode.typeId() == rigidBodyArrayNode::typeId) {
initRigidBodyArray(node);
}
}
}
tgModel* tgRodInfo::createModel(tgWorld& world)
{
// @todo: handle tags -> model
// @todo: check to make sure the rigidBody has been built
// @todo: Do we need to use the group here?
// Just in case it hasn't been done already...
initRigidBody(world);
#if (0)
std::cout << "creating rod with tags " << getTags() << std::endl;
#endif
tgRod* rod = new tgRod(getRigidBody(), getTags(), getLength());
return rod;
}
Platform::Platform(btVector3 startPos) {
ShapeHandler *sh = ShapeHandler::getHandler();
if (!sh->hasShape("platform")) {
// Load in the shapes to be used
sh->addMesh("platform", "platform.stl", false);
}
btCollisionShape *platformShape = sh->getShape("platform");
this->openglObject = sh->getMesh("platform")->openglobj;
float color[4] = {0.3, 0.3, 0.3, 1};
this->openglObject->setColor(color);
// Set up our beginning transform
//btQuaternion rot(0,0,0,1);
btTransform trans;
trans.setIdentity();
trans.setOrigin(startPos);
trans.setRotation(btQuaternion(btVector3(0, 1, 0), -90.0/57.0));
initRigidBody(0.0, platformShape, trans);
}