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+ need to reset rigid body using 'setCenterOfMassTransform' to reset world inertia tensor

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+ fixes in compound algorithm -> recompute contact points
+ add debug drawing to some demos.
+ revert btJacobianEntry change
+ replace dCROSSMAT by btVector3::getSkewSymmetricMatrix
This commit is contained in:
erwin.coumans
2008-12-02 04:01:56 +00:00
parent f0c302f65c
commit 5383ed4930
16 changed files with 215 additions and 127 deletions
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4
Demos/OpenGL/DemoApplication.cpp
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@@ -608,7 +608,7 @@ btVector3 DemoApplication::getRayTo(int x,int y)
return rayTo;
}
btScalar mousePickClamping = 3.f;
btScalar mousePickClamping = 30.f;
void DemoApplication::mouseFunc(int button, int state, int x, int y)
@@ -1249,7 +1249,7 @@ void DemoApplication::clientResetScene()
{
btDefaultMotionState* myMotionState = (btDefaultMotionState*)body->getMotionState();
myMotionState->m_graphicsWorldTrans = myMotionState->m_startWorldTrans;
colObj->setWorldTransform( myMotionState->m_graphicsWorldTrans );
body->setCenterOfMassTransform( myMotionState->m_graphicsWorldTrans );
colObj->setInterpolationWorldTransform( myMotionState->m_startWorldTrans );
colObj->activate();
//colObj->setActivationState(WANTS_DEACTIVATION);