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

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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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18
src/BulletDynamics/Dynamics/btRigidBody.cpp
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@@ -37,7 +37,6 @@ btRigidBody::btRigidBody(float mass, btMotionState* motionState, btCollisionShap
m_angularVelocity(0.f,0.f,0.f),
m_linearDamping(0.f),
m_angularDamping(0.5f),
m_kinematicTimeStep(0.f),
m_optionalMotionState(motionState),
m_contactSolverType(0),
m_frictionSolverType(0)
@@ -73,7 +72,6 @@ btRigidBody::btRigidBody( float mass,const btTransform& worldTransform,btCollisi
m_angularVelocity(0.f,0.f,0.f),
m_linearDamping(0.f),
m_angularDamping(0.5f),
m_kinematicTimeStep(0.f),
m_optionalMotionState(0),
m_contactSolverType(0),
m_frictionSolverType(0)
@@ -109,15 +107,17 @@ void btRigidBody::predictIntegratedTransform(btScalar timeStep,btTransform& pred
void btRigidBody::saveKinematicState(btScalar timeStep)
{
if (m_kinematicTimeStep)
//todo: clamp to some (user definable) safe minimum timestep, to limit maximum angular/linear velocities
if (timeStep != 0.f)
{
//if we use motionstate to synchronize world transforms, get the new kinematic/animated world transform
if (getMotionState())
getMotionState()->getWorldTransform(m_worldTransform);
btVector3 linVel,angVel;
btTransformUtil::calculateVelocity(m_interpolationWorldTransform,m_worldTransform,m_kinematicTimeStep,m_linearVelocity,m_angularVelocity);
btTransformUtil::calculateVelocity(m_interpolationWorldTransform,m_worldTransform,timeStep,m_linearVelocity,m_angularVelocity);
m_interpolationWorldTransform = m_worldTransform;
//printf("angular = %f %f %f\n",m_angularVelocity.getX(),m_angularVelocity.getY(),m_angularVelocity.getZ());
}
m_kinematicTimeStep = timeStep;
}
void btRigidBody::getAabb(btVector3& aabbMin,btVector3& aabbMax) const
@@ -154,7 +154,7 @@ void btRigidBody::setDamping(btScalar lin_damping, btScalar ang_damping)
void btRigidBody::applyForces(btScalar step)
{
if (isStaticObject() || isKinematicObject())
if (isStaticOrKinematicObject())
return;
applyCentralForce(m_gravity);
@@ -229,7 +229,7 @@ void btRigidBody::updateInertiaTensor()
void btRigidBody::integrateVelocities(btScalar step)
{
if (isStaticObject() || isKinematicObject())
if (isStaticOrKinematicObject())
return;
m_linearVelocity += m_totalForce * (m_inverseMass * step);