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more fixes, related to introduction of btMotionState, and using realtime timestep

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This commit is contained in:
ejcoumans
2006-10-18 04:01:07 +00:00
parent 3a6942fb91
commit 33b3ec94f1
7 changed files with 38 additions and 18 deletions
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24
Demos/ColladaDemo/ColladaConverter.cpp
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@@ -29,6 +29,7 @@ subject to the following restrictions:
#include "BulletCollision/CollisionShapes/btTriangleMeshShape.h"
//#include "BulletCollision/CollisionShapes/btTriangleIndexVertexArray.h"
#include "BulletCollision/CollisionShapes/btCompoundShape.h"
#include "LinearMath/btDefaultMotionState.h"
@@ -542,14 +543,18 @@ void ColladaConverter::prepareConstraints(ConstraintInput& input)
for (int i=0;i<m_numObjects;i++)
{
char* bodyName = (char*)m_rigidBodies[i]->m_userObjectPointer;
if (!strcmp(bodyName,orgUri0))
if (m_rigidBodies[i]->m_userObjectPointer)
{
body0=m_rigidBodies[i];
}
if (!strcmp(bodyName,orgUri1))
{
body1=m_rigidBodies[i];
btDefaultMotionState* ms = (btDefaultMotionState*)m_rigidBodies[i]->m_userObjectPointer;
char* bodyName = (char*)ms->m_userPointer;
if (!strcmp(bodyName,orgUri0))
{
body0=m_rigidBodies[i];
}
if (!strcmp(bodyName,orgUri1))
{
body1=m_rigidBodies[i];
}
}
}
@@ -700,10 +705,11 @@ void ColladaConverter::PreparePhysicsObject(struct btRigidBodyInput& input, bool
btRigidBody* body= createRigidBody(isDynamics,mass,startTransform,colShape);
if (body)
if (body && body->m_userObjectPointer)
{
//for bodyName lookup in constraints
body->m_userObjectPointer = (void*)input.m_bodyName;
btDefaultMotionState* ms = (btDefaultMotionState*)body->m_userObjectPointer;
ms->m_userPointer = (void*)input.m_bodyName;
m_rigidBodies[m_numObjects] = body;
m_numObjects++;
}