Bart/bullet3
1
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity

fixed rotation and translation issues for mesh and hull collision shapes

Browse Source
This commit is contained in:
nicola.candussi
2008-09-22 18:07:39 +00:00
parent a5da7347db
commit 965ef932e9
4 changed files with 68 additions and 41 deletions
Download Patch File Download Diff File Expand all files Collapse all files

36
Extras/MayaPlugin/bt_mesh_shape.h
View File

@@ -40,7 +40,11 @@ public:
btVector3 const& scale = shape()->getLocalScaling();
glPushMatrix();
//glTranslatef(m_center[0], m_center[1], m_center[2]);
glTranslatef(m_center[0], m_center[1], m_center[2]);
float angle;
vec3f axis;
q_to_axis_angle(m_rotation, axis, angle);
glRotatef(rad2deg(angle), axis[0], axis[1], axis[2]);
glScalef(scale.x(), scale.y(), scale.z());
glEnableClientState(GL_VERTEX_ARRAY);
glEnableClientState(GL_NORMAL_ARRAY);
@@ -105,10 +109,19 @@ protected:
m_tiva.reset(new btTriangleIndexVertexArray(num_indices / 3, (int*)&(m_indices[0]), 3 * sizeof(unsigned int),
num_vertices, (float*)&(m_vertices[0]), sizeof(vec3f)));
btGImpactMeshShape* gimpactShape = new btGImpactMeshShape(m_tiva.get());
gimpactShape->setLocalScaling(btVector3(1.0f,1.0f,1.0f));
gimpactShape->updateBound();
set_shape(gimpactShape);
m_gi_shape.reset(new btGImpactMeshShape(m_tiva.get()));
m_gi_shape->setLocalScaling(btVector3(1.0f,1.0f,1.0f));
m_gi_shape->updateBound();
btCompoundShape *compound_shape = new btCompoundShape;
compound_shape->addChildShape(btTransform(btQuaternion(m_rotation[1],
m_rotation[2],
m_rotation[3],
m_rotation[0]),
btVector3(m_center[0],
m_center[1],
m_center[2])),
m_gi_shape.get());
set_shape(compound_shape);
//std::cout << "construtor: " << m_center << std::endl;
@@ -117,10 +130,8 @@ protected:
void update()
{
btGImpactMeshShape *gi_shape = static_cast<btGImpactMeshShape*>(shape());
//apply the scaling
btVector3 const& scale = gi_shape->getLocalScaling();
btVector3 const& scale = m_gi_shape->getLocalScaling();
std::vector<vec3f> vertices(m_vertices.size());
for(int i = 0; i < vertices.size(); ++i) {
@@ -142,10 +153,11 @@ protected:
}
private:
std::vector<vec3f> m_vertices;
std::vector<vec3f> m_normals;
std::vector<unsigned int> m_indices;
shared_ptr<btTriangleIndexVertexArray> m_tiva;
shared_ptr<btGImpactMeshShape> m_gi_shape;
std::vector<vec3f> m_vertices;
std::vector<vec3f> m_normals;
std::vector<unsigned int> m_indices;
shared_ptr<btTriangleIndexVertexArray> m_tiva;
float m_volume;
vec3f m_center;