void SetTransform(const Transformation& t){
Mat44 mat4;
t.GetHomogeneous(mat4);
auto aT = FBToBullet(mat4);
mSelf->setWorldTransform(aT);
auto numConstraints = mSelf->getNumConstraintRefs();
for (int i = 0; i < numConstraints; ++i){
auto con = mSelf->getConstraintRef(i);
if (con->isEnabled() && con->getConstraintType() == D6_SPRING_2_CONSTRAINT_TYPE){
btFixedConstraint* fixedCon = (btFixedConstraint*)con;
auto a = &con->getRigidBodyA();
auto b = &con->getRigidBodyB();
auto trA = fixedCon->getFrameOffsetA();
auto trB = fixedCon->getFrameOffsetB();
if (b->getUserPointer() == mSelf){
std::swap(a, b);
std::swap(trA, trB);
}
auto bT = aT * trA * trB.inverse();
b->setWorldTransform(bT);
auto ms = b->getMotionState();
if (ms)
ms->setWorldTransform(bT);
}
}
mSelf->activate();
}
void RemoveConstraints(){
while (mSelf->getNumConstraintRefs()>0)
{
btTypedConstraint* pConstraint = mSelf->getConstraintRef(0);
Physics::GetInstance().RemoveConstraint(pConstraint);
}
}
void SetTransform(const btTransform& aT, VectorMap<void*, int>& set){
if (set.Find(mSelf) != set.end())
return;
mSelf->setWorldTransform(aT);
mSelf->clearForces();
set[mSelf] = 1;
if (mGameFlag != 0)
Logger::Log(FB_DEFAULT_LOG_ARG, FormatString("(info) Setting rigid body transform for %d", mGameFlag).c_str());
auto numConstraints = mSelf->getNumConstraintRefs();
for (int i = 0; i < numConstraints; ++i){
auto con = mSelf->getConstraintRef(i);
auto conType = con->getConstraintType();
if (conType == FIXED_CONSTRAINT_TYPE || conType == D6_SPRING_2_CONSTRAINT_TYPE){
btFixedConstraint* fixedCon = (btFixedConstraint*)con;
auto a = &con->getRigidBodyA();
auto b = &con->getRigidBodyB();
auto trA = fixedCon->getFrameOffsetA();
auto trB = fixedCon->getFrameOffsetB();
if (b->getUserPointer() == mSelf){
std::swap(a, b);
std::swap(trA, trB);
}
auto bT = aT * trA * trB.inverse();
auto rigidBodyImpl = (RigidBodyImpl*)b->getUserPointer();
rigidBodyImpl->mImpl->SetTransform(bT, set);
}
}
mSelf->activate();
}
void RemoveConstraint(void* constraintPtr){
auto num = mSelf->getNumConstraintRefs();
for (int i = 0; i < num; ++i){
btTypedConstraint* pConstraint = mSelf->getConstraintRef(i);
if (pConstraint == constraintPtr){
Physics::GetInstance().RemoveConstraint(pConstraint);
break;
}
}
}
void UnregisterFromWorld(){
if (mWorld){
auto num = mSelf->getNumConstraintRefs();
for (int i = 0; i < num; ++i){
auto constraint = mSelf->getConstraintRef(i);
assert(constraint);
constraint->setEnabled(false);
}
mWorld->removeRigidBody(mSelf);
mAddedToWorld = false;
}
}
void RemoveConstraintsFor(void* gamePtr){
auto num = mSelf->getNumConstraintRefs();
for (int i = 0; i < num; ){
btTypedConstraint* pConstraint = mSelf->getConstraintRef(i);
if (pConstraint->getRigidBodyA().getUserPointer() ==
pConstraint->getRigidBodyB().getUserPointer()){
Physics::GetInstance().RemoveConstraint(pConstraint);
}
else{
++i;
}
}
}
void UnregisterFromWorld(){
if (mWorld){
auto num = mSelf->getNumConstraintRefs();
for (int i = 0; i < num; ++i){
auto constraint = mSelf->getConstraintRef(i);
assert(constraint);
constraint->setEnabled(false);
}
mWorld->removeRigidBody(mSelf);
mAddedToWorld = false;
}
else
Logger::Log(FB_ERROR_LOG_ARG, "No colprovier exists!");
}
void RegisterToWorld(){
if (mWorld && mColProvider){
assert(!mAddedToWorld);
mWorld->addRigidBody(mSelf, mColProvider->GetCollisionGroup(), mColProvider->GetCollisionMask());
mAddedToWorld = true;
auto num = mSelf->getNumConstraintRefs();
for (int i = 0; i < num; ++i){
auto constraint = mSelf->getConstraintRef(i);
assert(constraint);
if (constraint->getRigidBodyA().isInWorld() && constraint->getRigidBodyB().isInWorld())
constraint->setEnabled(true);
}
}
else
Logger::Log(FB_ERROR_LOG_ARG, "No colprovier exists!");
}
void* GetLastConstraintsPtr(){
auto num = mSelf->getNumConstraintRefs();
if (num == 0)
return 0;
return mSelf->getConstraintRef(num - 1);
}