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Dynamica Maya plugin changes to take into account scale and pivot point offset

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when converting existing objects to convex hull or mesh
One more method added to set spring equilibrium point directly for btGeneric6DofSpringConstraint
This commit is contained in:
rponom
2010-03-03 20:50:38 +00:00
parent 658979c3ac
commit af754373b2
3 changed files with 21 additions and 1 deletions
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16
Extras/MayaPlugin/scripts/dynamicaUI.mel
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@@ -458,8 +458,19 @@ proc dynamicaUI_createRigidBody(int $activebody, int $collisionShapeType)
setAttr ($rigidBodyNode + ".mass" ) $mass;
setAttr ($collisionShapeNode + ".type" ) $collisionShapeType;
float $pos[]= `getAttr ($shapeTransforms[0] + ".translate")`;
float $rot[]= `getAttr ($shapeTransforms[0] + ".rotate")`;
float $wmatr[]= `getAttr ($shapeTransforms[0] + ".worldMatrix")`;
// float $pos[]= `getAttr ($shapeTransforms[0] + ".translate")`;
// We need to take into account offset of the pivot point
// so get the final translation directly from world matrix
// also get existing scale
// note that this may not work if scaling coordinate system differs from object's coordinate system
// Bullet does not support that yet
float $pos[];
$pos[0] = $wmatr[12];
$pos[1] = $wmatr[13];
$pos[2] = $wmatr[14];
float $scale[] = `getAttr ($shapeTransforms[0] + ".scale")`;
setAttr ($rigidBodyTransforms[0] + ".translate") -type double3 $pos[0] $pos[1] $pos[2];
setAttr ($rigidBodyNode + ".initialPosition") -type double3 $pos[0] $pos[1] $pos[2];
@@ -467,6 +478,9 @@ proc dynamicaUI_createRigidBody(int $activebody, int $collisionShapeType)
setAttr ($rigidBodyTransforms[0] + ".rotate") -type double3 $rot[0] $rot[1] $rot[2];
setAttr ($rigidBodyNode + ".initialRotation") -type double3 $rot[0] $rot[1] $rot[2];
setAttr ($rigidBodyTransforms[0] + ".scale") -type double3 $scale[0] $scale[1] $scale[2];
setAttr ($collisionShapeNode + ".scale" ) -type double3 $scale[0] $scale[1] $scale[2];
$newBodies[$i] = $rigidBodyTransforms[0];
}
else

5
src/BulletDynamics/ConstraintSolver/btGeneric6DofSpringConstraint.cpp
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@@ -92,6 +92,11 @@ void btGeneric6DofSpringConstraint::setEquilibriumPoint(int index)
}
}
void btGeneric6DofSpringConstraint::setEquilibriumPoint(int index, btScalar val)
{
btAssert((index >= 0) && (index < 6));
m_equilibriumPoint[index] = val;
}
void btGeneric6DofSpringConstraint::internalUpdateSprings(btConstraintInfo2* info)

1
src/BulletDynamics/ConstraintSolver/btGeneric6DofSpringConstraint.h
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@@ -47,6 +47,7 @@ public:
void setDamping(int index, btScalar damping);
void setEquilibriumPoint(); // set the current constraint position/orientation as an equilibrium point for all DOF
void setEquilibriumPoint(int index); // set the current constraint position/orientation as an equilibrium point for given DOF
void setEquilibriumPoint(int index, btScalar val);
virtual void getInfo2 (btConstraintInfo2* info);
};