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another large series of changes, related to the refactoring.

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CompoundShapes are tricky to manage with respect to persistent contact points and swapped order of btCollisionObjects,
During dispatch, finding an algorith etc. order can be swapped.
fixed several other issues, related to SimpleBroadphase (removing a proxy was not working)
This commit is contained in:
ejcoumans
2006-10-06 05:22:13 +00:00
parent 97b287a6bc
commit bf847b839a
54 changed files with 1852 additions and 1946 deletions
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37
src/BulletDynamics/Dynamics/btRigidBody.h
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@@ -25,7 +25,8 @@ subject to the following restrictions:
#include "BulletCollision/CollisionDispatch/btCollisionObject.h"
class btCollisionShape;
struct btMassProps;
class btMotionState;
typedef btScalar dMatrix3[4*3];
extern float gLinearAirDamping;
@@ -57,9 +58,13 @@ class btRigidBody : public btCollisionObject
btScalar m_kinematicTimeStep;
//m_optionalMotionState allows to automatic synchronize the world transform for active objects
btMotionState* m_optionalMotionState;
public:
btRigidBody(float mass, const btTransform& worldTransform, btCollisionShape* collisionShape, const btVector3& localInertia=btVector3(0,0,0),btScalar linearDamping=0.f,btScalar angularDamping=0.f,btScalar friction=0.5f,btScalar restitution=0.f);
btRigidBody(float mass, btMotionState* motionState, btCollisionShape* collisionShape, const btVector3& localInertia=btVector3(0,0,0),btScalar linearDamping=0.f,btScalar angularDamping=0.f,btScalar friction=0.5f,btScalar restitution=0.f);
void proceedToTransform(const btTransform& newTrans);
@@ -138,9 +143,8 @@ public:
void applyTorqueImpulse(const btVector3& torque)
{
if (!IsStatic())
if (!isStaticObject()&& !isKinematicObject())
m_angularVelocity += m_invInertiaTensorWorld * torque;
}
void applyImpulse(const btVector3& impulse, const btVector3& rel_pos)
@@ -176,9 +180,14 @@ public:
}
void setLinearVelocity(const btVector3& lin_vel);
void setAngularVelocity(const btVector3& ang_vel) {
if (!IsStatic())
inline void setLinearVelocity(const btVector3& lin_vel)
{
assert (m_collisionFlags != btCollisionObject::CF_STATIC_OBJECT);
m_linearVelocity = lin_vel;
}
inline void setAngularVelocity(const btVector3& ang_vel) {
assert (m_collisionFlags != btCollisionObject::CF_STATIC_OBJECT);
{
m_angularVelocity = ang_vel;
}
@@ -274,7 +283,21 @@ public:
{
m_broadphaseHandle = broadphaseProxy;
}
//btMotionState allows to automatic synchronize the world transform for active objects
btMotionState* getMotionState()
{
return m_optionalMotionState;
}
const btMotionState* getMotionState() const
{
return m_optionalMotionState;
}
void setMotionState(btMotionState* motionState)
{
m_optionalMotionState = motionState;
}
//for experimental overriding of friction/contact solver func
int m_contactSolverType;
int m_frictionSolverType;