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Added constraint framework, and the nail contraint

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This commit is contained in:
nicola.candussi
2008-10-20 10:43:18 +00:00
parent c986721fb6
commit b95810245f
22 changed files with 1164 additions and 25 deletions
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8
Extras/MayaPlugin/bt_rigid_body.h
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@@ -43,21 +43,14 @@ public:
const btTransform& btxform = m_body->getWorldTransform();
btQuaternion q = btxform.getRotation();
btVector3 p = btxform.getOrigin();
// position = vec3f(p.x(), p.y(), p.z()) - m_collision_shape->center();
position = vec3f(p.x(), p.y(), p.z());
//rotation = qprod(quatf(q.w(), q.x(), q.y(), q.z()), qconj(m_collision_shape->rotation()));
rotation = quatf(q.w(), q.x(), q.y(), q.z());
}
virtual void set_transform(vec3f const &position, quatf const &rotation)
{
// vec3f tp = position + m_collision_shape->center();
vec3f tp = position;
// quatf tr = qprod(rotation, m_collision_shape->rotation());
quatf tr = rotation;
// std::cout << "----------" << std::endl;
// std::cout << rotation << std::endl;
// std::cout << m_collision_shape->rotation() << std::endl;
btTransform xform(btQuaternion(tr[1], tr[2], tr[3], tr[0]),
btVector3(tp[0], tp[1], tp[2]));
m_body->setWorldTransform(xform);
@@ -103,7 +96,6 @@ public:
virtual void set_restitution(float r)
{
// std::cout << r << std::endl;
m_body->setRestitution(r);
}