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Added constraint framework, and the nail contraint

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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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18
Extras/MayaPlugin/bt_solver.h
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@@ -37,6 +37,7 @@ Written by: Nicola Candussi <nicola@fluidinteractive.com>
#include "bt_box_shape.h"
#include "bt_convex_hull_shape.h"
#include "bt_mesh_shape.h"
#include "bt_nail_constraint.h"
class bt_solver_t: public solver_impl_t
{
@@ -71,6 +72,11 @@ public:
return new bt_mesh_shape_t(vertices, num_vertices, normals, indices, num_indices);
}
virtual nail_constraint_impl_t* create_nail_constraint(rigid_body_impl_t* rb, vec3f const& pivot)
{
return new bt_nail_constraint_t(rb, pivot);
}
virtual void add_rigid_body(rigid_body_impl_t* rb)
{
bt_rigid_body_t* bt_body = static_cast<bt_rigid_body_t*>(rb);
@@ -83,6 +89,18 @@ public:
m_dynamicsWorld->removeRigidBody(bt_body->body());
}
virtual void add_constraint(constraint_impl_t* c)
{
bt_constraint_t* btc = dynamic_cast<bt_constraint_t*>(c);
m_dynamicsWorld->addConstraint(btc->constraint());
}
virtual void remove_constraint(constraint_impl_t* c)
{
bt_constraint_t* btc = dynamic_cast<bt_constraint_t*>(c);
m_dynamicsWorld->removeConstraint(btc->constraint());
}
virtual void set_gravity(vec3f const& g)
{
m_dynamicsWorld->setGravity(btVector3(g[0], g[1], g[2]));