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improvements/bugfixes related to kinematic(animated) objects, synchronizeMotionStates

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This commit is contained in:
ejcoumans
2006-10-19 15:20:38 +00:00
parent d11572a4d7
commit 289c5ca7fe
9 changed files with 71 additions and 40 deletions
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21
Demos/OpenGL/DemoApplication.cpp
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@@ -650,10 +650,16 @@ btRigidBody* DemoApplication::localCreateRigidBody(float mass, const btTransform
if (isDynamic)
shape->calculateLocalInertia(mass,localInertia);
//using motionstate is recommended, it provides interpolation capabilities, and only synchronizes 'active' objects
#define USE_MOTIONSTATE 1
#ifdef USE_MOTIONSTATE
btDefaultMotionState* myMotionState = new btDefaultMotionState(startTransform);
btRigidBody* body = new btRigidBody(mass,myMotionState,shape,localInertia);
body->m_userObjectPointer = myMotionState;
#else
btRigidBody* body = new btRigidBody(mass,startTransform,shape,localInertia);
#endif//
m_dynamicsWorld->addRigidBody(body);
return body;
@@ -675,10 +681,11 @@ void DemoApplication::renderme()
for (int i=0;i<numObjects;i++)
{
btCollisionObject* colObj = m_dynamicsWorld->getCollisionObjectArray()[i];
if (colObj->m_userObjectPointer)
btRigidBody* body = btRigidBody::upcast(colObj);
if (body && body->getMotionState())
{
btDefaultMotionState* myMotionState = (btDefaultMotionState*)colObj->m_userObjectPointer;
btDefaultMotionState* myMotionState = (btDefaultMotionState*)body->getMotionState();
myMotionState->m_graphicsWorldTrans.getOpenGLMatrix(m);
} else
{
@@ -819,10 +826,10 @@ void DemoApplication::clientResetScene()
for (int i=0;i<numObjects;i++)
{
btCollisionObject* colObj = m_dynamicsWorld->getCollisionObjectArray()[i];
if (colObj->m_userObjectPointer)
btRigidBody* body = btRigidBody::upcast(colObj);
if (body && body->getMotionState())
{
btDefaultMotionState* myMotionState = (btDefaultMotionState*)colObj->m_userObjectPointer;
btDefaultMotionState* myMotionState = (btDefaultMotionState*)body->getMotionState();
myMotionState->m_graphicsWorldTrans = myMotionState->m_startWorldTrans;
colObj->m_worldTransform = myMotionState->m_graphicsWorldTrans;
colObj->m_interpolationWorldTransform = myMotionState->m_startWorldTrans;