Bart/bullet3
1
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity

Dynamica export to Bullet .bullet file, and some fixes in Hull scaling (not using btCompoundShape::setLocalScaling but directly appying the scaling to the hull vertices, and caching the local scaling)

Browse Source
This commit is contained in:
rponom
2010-01-29 00:03:45 +00:00
parent ee3e231be5
commit 133bb63dd8
9 changed files with 109 additions and 36 deletions
Download Patch File Download Diff File Expand all files Collapse all files

51
Extras/MayaPlugin/bt_convex_hull_shape.h
View File

@@ -59,14 +59,48 @@ public:
glPopMatrix();
}
virtual void set_scale(vec3f const& s) {
shape()->setLocalScaling(btVector3(s[0], s[1], s[2]));
virtual void set_scale(vec3f const& s1) {
// shape()->setLocalScaling(btVector3(s[0], s[1], s[2]));
btVector3 s(s1[0],s1[1],s1[2]);
float delSq = 0.f;
for(int i = 0; i < 3; i++)
{
float del = s[i] - m_cachedScaling[i];
delSq += del * del;
}
if (delSq > FLT_EPSILON)
{
// btAssert(shape()->getType()==
btCompoundShape* compound =(btCompoundShape*)shape();
btConvexHullShape* child = (btConvexHullShape*)compound->getChildShape(0);
/*
btTransform scaleTransf;
scaleTransf.setIdentity();
scaleTransf.getBasis()[0][0] = (s/m_cachedScaling)[0];
scaleTransf.getBasis()[1][1] = (s/m_cachedScaling)[1];
scaleTransf.getBasis()[2][2] = (s/m_cachedScaling)[2];
btTransform combinedTr = tr.inverse() * (scaleTransf * (tr * vtx));
*/
const btTransform& tr = compound->getChildTransform(0);
for (int i=0;i<child->getNumPoints();i++)
{
btVector3 oldPoint = child->getUnscaledPoints()[i];
btVector3 parentPoint = tr*oldPoint;
btVector3 parentPointScaled = parentPoint*(s/m_cachedScaling);
btVector3 childPoint = tr.inverse()*parentPointScaled;
child->getUnscaledPoints()[i]=childPoint;
}
m_cachedScaling = s;
}
update();
}
virtual void get_scale(vec3f& s) {
const btVector3& scale = shape()->getLocalScaling();
s = vec3f(scale.x(), scale.y(), scale.z());
// const btVector3& scale = shape()->getLocalScaling();
// s = vec3f(scale.x(), scale.y(), scale.z());
s = vec3f(m_cachedScaling.x(), m_cachedScaling.y(), m_cachedScaling.z());
}
virtual float volume() { return m_volume; }
@@ -103,6 +137,12 @@ protected:
m_ch_shape.reset(new btConvexHullShape((float const*)&(m_vertices[0]), num_vertices, sizeof(vec3f)));
btCompoundShape *compound_shape = new btCompoundShape;
// btTransform childTransf;
// childTransf.setIdentity();
// childTransf.setOrigin(btVector3(m_center[0], m_center[1], m_center[2]));
// compound_shape->addChildShape(childTransf, m_ch_shape.get());
///*
compound_shape->addChildShape(btTransform(btQuaternion(m_rotation[1],
m_rotation[2],
m_rotation[3],
@@ -111,7 +151,9 @@ protected:
m_center[1],
m_center[2])),
m_ch_shape.get());
//*/
set_shape(compound_shape);
m_cachedScaling[0] = m_cachedScaling[1] = m_cachedScaling[2] = 1.f;
}
void update()
@@ -147,6 +189,7 @@ private:
vec3f m_center;
quatf m_rotation;
vec3f m_local_inertia;
btVector3 m_cachedScaling;
};
#endif