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added synchronizeSingleMotionState, thanks Chunky.

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This commit is contained in:
erwin.coumans
2008-11-08 19:34:05 +00:00
parent 075ba0b9d9
commit ce0bdd891d
2 changed files with 24 additions and 13 deletions
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34
src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.cpp
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@@ -250,6 +250,25 @@ void btDiscreteDynamicsWorld::applyGravity()
} }
void btDiscreteDynamicsWorld::synchronizeSingleMotionState(btRigidBody* body)
{
btAssert(body);
if (body->getMotionState() && !body->isStaticOrKinematicObject())
{
//we need to call the update at least once, even for sleeping objects
//otherwise the 'graphics' transform never updates properly
///@todo: add 'dirty' flag
//if (body->getActivationState() != ISLAND_SLEEPING)
{
btTransform interpolatedTransform;
btTransformUtil::integrateTransform(body->getInterpolationWorldTransform(),
body->getInterpolationLinearVelocity(),body->getInterpolationAngularVelocity(),m_localTime*body->getHitFraction(),interpolatedTransform);
body->getMotionState()->setWorldTransform(interpolatedTransform);
}
}
}
void btDiscreteDynamicsWorld::synchronizeMotionStates() void btDiscreteDynamicsWorld::synchronizeMotionStates()
{ {
@@ -261,19 +280,8 @@ void btDiscreteDynamicsWorld::synchronizeMotionStates()
btCollisionObject* colObj = m_activeObjects[i]; btCollisionObject* colObj = m_activeObjects[i];
btRigidBody* body = btRigidBody::upcast(colObj); btRigidBody* body = btRigidBody::upcast(colObj);
if (body && body->getMotionState() && !body->isStaticOrKinematicObject()) if (body)
{ synchronizeSingleMotionState(body);
//we need to call the update at least once, even for sleeping objects
//otherwise the 'graphics' transform never updates properly
///@todo: add 'dirty' flag
//if (body->getActivationState() != ISLAND_SLEEPING)
{
btTransform interpolatedTransform;
btTransformUtil::integrateTransform(body->getInterpolationWorldTransform(),
body->getInterpolationLinearVelocity(),body->getInterpolationAngularVelocity(),m_localTime*body->getHitFraction(),interpolatedTransform);
body->getMotionState()->setWorldTransform(interpolatedTransform);
}
}
} }
} }

3
src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.h
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@@ -92,6 +92,9 @@ public:
virtual void synchronizeMotionStates(); virtual void synchronizeMotionStates();
///this can be useful to synchronize a single rigid body -> graphics object
void synchronizeSingleMotionState(btRigidBody* body);
void addConstraint(btTypedConstraint* constraint, bool disableCollisionsBetweenLinkedBodies=false); void addConstraint(btTypedConstraint* constraint, bool disableCollisionsBetweenLinkedBodies=false);
void removeConstraint(btTypedConstraint* constraint); void removeConstraint(btTypedConstraint* constraint);