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moved implementation from ColladaDemo into ColladaConverter, so that it can be used without change with any btDynamicsWorld.

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This commit is contained in:
ejcoumans
2008-02-08 23:46:37 +00:00
parent 7ca3020133
commit 6b3587a505
5 changed files with 129 additions and 108 deletions
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97
Demos/ColladaDemo/ColladaDemo.cpp
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@@ -42,103 +42,12 @@ class MyColladaConverter : public ColladaConverter
public:
MyColladaConverter(DemoApplication* demoApp)
:m_demoApp(demoApp)
: ColladaConverter(demoApp->getDynamicsWorld()),
m_demoApp(demoApp)
{
}
///those 2 virtuals are called for each constraint/physics object
virtual btTypedConstraint* createUniversalD6Constraint(
class btRigidBody* bodyRef,class btRigidBody* bodyOther,
btTransform& localAttachmentFrameRef,
btTransform& localAttachmentOther,
const btVector3& linearMinLimits,
const btVector3& linearMaxLimits,
const btVector3& angularMinLimits,
const btVector3& angularMaxLimits,
bool disableCollisionsBetweenLinkedBodies
)
{
if (bodyRef)
{
if (!bodyOther)
{
btRigidBody::btRigidBodyConstructionInfo cinfo(0,0,0);
bodyOther = new btRigidBody(cinfo);
bodyOther->setWorldTransform(bodyRef->getWorldTransform());
localAttachmentOther = localAttachmentFrameRef;
}
bool useReferenceFrameA = true;
btGeneric6DofConstraint* genericConstraint = new btGeneric6DofConstraint(
*bodyRef,*bodyOther,
localAttachmentFrameRef,localAttachmentOther,useReferenceFrameA);
genericConstraint->setLinearLowerLimit(linearMinLimits);
genericConstraint->setLinearUpperLimit(linearMaxLimits);
genericConstraint->setAngularLowerLimit(angularMinLimits);
genericConstraint->setAngularUpperLimit(angularMaxLimits);
m_demoApp->getDynamicsWorld()->addConstraint( genericConstraint,disableCollisionsBetweenLinkedBodies );
return genericConstraint;
}
return 0;
}
virtual btRigidBody* createRigidBody(bool isDynamic,
float mass,
const btTransform& startTransform,
btCollisionShape* shape)
{
if (!isDynamic && (mass != 0.f))
{
printf("Warning: non-dynamic objects needs to have zero mass!\n");
mass = 0.f;
}
if (isDynamic && (mass == 0.f))
{
printf("Warning: dynamic rigidbodies needs nonzero mass!\n");
mass = 1.f;
}
btRigidBody* body = m_demoApp->localCreateRigidBody(mass, startTransform,shape);
return body;
}
virtual int getNumRigidBodies ()
{
return m_demoApp->getDynamicsWorld()->getNumCollisionObjects();
}
virtual btRigidBody* getRigidBody (int i)
{
return btRigidBody::upcast(m_demoApp->getDynamicsWorld()->getCollisionObjectArray ()[i]);
}
virtual int getNumConstraints ()
{
return m_demoApp->getDynamicsWorld()->getNumConstraints ();
}
virtual btTypedConstraint* getConstraint (int i)
{
return m_demoApp->getDynamicsWorld()->getConstraint (i);
}
virtual void setGravity(const btVector3& grav)
{
m_demoApp->getDynamicsWorld()->setGravity(grav);
}
virtual btVector3 getGravity ()
{
return m_demoApp->getDynamicsWorld()->getGravity ();
}
virtual void setCameraInfo(const btVector3& camUp,int forwardAxis)
{
m_demoApp->setCameraUp(camUp);