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One of the last parts of the refactoring (hopefully), made most members of btCollisionObject protected.

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Also did some work on improving the constraint solver.
This commit is contained in:
ejcoumans
2006-11-02 03:42:53 +00:00
parent 82ba30caa6
commit 4050da0e2f
34 changed files with 485 additions and 265 deletions
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14
Demos/OpenGL/DemoApplication.cpp
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@@ -435,8 +435,8 @@ void DemoApplication::shootBox(const btVector3& destination)
linVel.normalize();
linVel*=m_ShootBoxInitialSpeed;
body->m_worldTransform.setOrigin(camPos);
body->m_worldTransform.setRotation(btQuaternion(0,0,0,1));
body->getWorldTransform().setOrigin(camPos);
body->getWorldTransform().setRotation(btQuaternion(0,0,0,1));
body->setLinearVelocity(linVel);
body->setAngularVelocity(btVector3(0,0,0));
}
@@ -597,7 +597,7 @@ void DemoApplication::mouseFunc(int button, int state, int x, int y)
//printf("removed constraint %i",gPickingConstraintId);
m_pickConstraint = 0;
pickedBody->ForceActivationState(ACTIVE_TAG);
pickedBody->m_deactivationTime = 0.f;
pickedBody->setDeactivationTime( 0.f );
pickedBody = 0;
}
@@ -690,7 +690,7 @@ void DemoApplication::renderme()
myMotionState->m_graphicsWorldTrans.getOpenGLMatrix(m);
} else
{
colObj->m_worldTransform.getOpenGLMatrix(m);
colObj->getWorldTransform().getOpenGLMatrix(m);
}
btVector3 wireColor(1.f,1.0f,0.5f); //wants deactivation
@@ -720,7 +720,7 @@ void DemoApplication::renderme()
}
}
GL_ShapeDrawer::drawOpenGL(m,colObj->m_collisionShape,wireColor,getDebugMode());
GL_ShapeDrawer::drawOpenGL(m,colObj->getCollisionShape(),wireColor,getDebugMode());
}
@@ -832,8 +832,8 @@ void DemoApplication::clientResetScene()
{
btDefaultMotionState* myMotionState = (btDefaultMotionState*)body->getMotionState();
myMotionState->m_graphicsWorldTrans = myMotionState->m_startWorldTrans;
colObj->m_worldTransform = myMotionState->m_graphicsWorldTrans;
colObj->m_interpolationWorldTransform = myMotionState->m_startWorldTrans;
colObj->setWorldTransform( myMotionState->m_graphicsWorldTrans );
colObj->setInterpolationWorldTransform( myMotionState->m_startWorldTrans );
btRigidBody* body = btRigidBody::upcast(colObj);
if (body && !body->isStaticObject())
{