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processed a lot of feedback: added 'realtime' simulation with fixed substeps (and clamping maximum number of substeps), this means that when stepSimulation is called with smaller timesteps then 'fixed substep' the motionstate is interpolated.

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renamed m_ccdSweptSphereRadius,
enabled wireframe debugDrawObject (using debugDrawer)
This commit is contained in:
ejcoumans
2006-10-18 03:28:42 +00:00
parent 1fe414d98a
commit 3a6942fb91
32 changed files with 406 additions and 185 deletions
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32
src/LinearMath/btDefaultMotionState.h Normal file
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#ifndef DEFAULT_MOTION_STATE_H
#define DEFAULT_MOTION_STATE_H
///btDefaultMotionState provides a common implementation to synchronize world transforms with offsets
struct btDefaultMotionState : public btMotionState
{
btTransform m_graphicsWorldTrans;
btTransform m_centerOfMassOffset;
btTransform m_startWorldTrans;
btDefaultMotionState(const btTransform& startTrans,const btTransform& centerOfMassOffset = btTransform::getIdentity())
: m_graphicsWorldTrans(startTrans),
m_centerOfMassOffset(centerOfMassOffset),
m_startWorldTrans(startTrans)
{
}
///synchronizes world transform from user to physics
virtual void getWorldTransform(btTransform& centerOfMassWorldTrans )
{
centerOfMassWorldTrans = m_centerOfMassOffset.inverse() * m_graphicsWorldTrans ;
}
///synchronizes world transform from physics to user
virtual void setWorldTransform(const btTransform& centerOfMassWorldTrans)
{
m_graphicsWorldTrans = centerOfMassWorldTrans * m_centerOfMassOffset ;
}
};
#endif //DEFAULT_MOTION_STATE_H