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add compute softbody com

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This commit is contained in:
Chuyuan Fu
2019-10-24 19:09:08 -07:00
committed by Xuchen Han
parent 618c85325c
commit 74571d79e7
2 changed files with 14 additions and 3 deletions
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8
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
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@@ -7257,6 +7257,7 @@ bool PhysicsServerCommandProcessor::processRequestActualStateCommand(const struc
serverCmd.m_numDataStreamBytes = sizeof(SendActualStateSharedMemoryStorage);
serverCmd.m_sendActualStateArgs.m_stateDetails = 0;
serverCmd.m_sendActualStateArgs.m_rootLocalInertialFrame[0] =
body->m_rootLocalInertialFrame.getOrigin()[0];
serverCmd.m_sendActualStateArgs.m_rootLocalInertialFrame[1] =
@@ -7273,11 +7274,12 @@ bool PhysicsServerCommandProcessor::processRequestActualStateCommand(const struc
serverCmd.m_sendActualStateArgs.m_rootLocalInertialFrame[6] =
body->m_rootLocalInertialFrame.getRotation()[3];
btVector3 center_of_mass(sb->getCenterOfMass());
btTransform tr = sb->getWorldTransform();
//base position in world space, cartesian
stateDetails->m_actualStateQ[0] = tr.getOrigin()[0];
stateDetails->m_actualStateQ[1] = tr.getOrigin()[1];
stateDetails->m_actualStateQ[2] = tr.getOrigin()[2];
stateDetails->m_actualStateQ[0] = center_of_mass[0];
stateDetails->m_actualStateQ[1] = center_of_mass[1];
stateDetails->m_actualStateQ[2] = center_of_mass[2];
//base orientation, quaternion x,y,z,w, in world space, cartesian
stateDetails->m_actualStateQ[3] = tr.getRotation()[0];