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add support to load rigidbody

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This commit is contained in:
Chuyuan Fu
2019-08-05 13:38:43 -07:00
parent 3ac4959e95
commit 1cb3655f71
3 changed files with 68 additions and 34 deletions
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1
src/BulletDynamics/Dynamics/btRigidBody.cpp
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@@ -86,6 +86,7 @@ void btRigidBody::setupRigidBody(const btRigidBody::btRigidBodyConstructionInfo&
m_debugBodyId = uniqueId++;
setMassProps(constructionInfo.m_mass, constructionInfo.m_localInertia);
m_mass = constructionInfo.m_mass;
updateInertiaTensor();
m_rigidbodyFlags = BT_ENABLE_GYROSCOPIC_FORCE_IMPLICIT_BODY;

6
src/BulletDynamics/Dynamics/btRigidBody.h
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@@ -62,6 +62,7 @@ class btRigidBody : public btCollisionObject
btVector3 m_linearVelocity;
btVector3 m_angularVelocity;
btScalar m_inverseMass;
btScalar m_mass;
btVector3 m_linearFactor;
btVector3 m_gravity;
@@ -259,6 +260,9 @@ public:
m_invMass = m_linearFactor * m_inverseMass;
}
btScalar getInvMass() const { return m_inverseMass; }
btScalar getMass() const { return m_mass; }
const btMatrix3x3& getInvInertiaTensorWorld() const
{
return m_invInertiaTensorWorld;
@@ -554,6 +558,7 @@ struct btRigidBodyFloatData
btVector3FloatData m_totalForce;
btVector3FloatData m_totalTorque;
float m_inverseMass;
float m_mass;
float m_linearDamping;
float m_angularDamping;
float m_additionalDampingFactor;
@@ -580,6 +585,7 @@ struct btRigidBodyDoubleData
btVector3DoubleData m_totalForce;
btVector3DoubleData m_totalTorque;
double m_inverseMass;
double m_mass;
double m_linearDamping;
double m_angularDamping;
double m_additionalDampingFactor;