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An implementation of btMotionState is required for kineamtic bodies.

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This commit is contained in:
enn0x 2011-08-13 21:29:13 +00:00
parent 5158b9b5bf
commit 5bea667a74
2 changed files with 38 additions and 1 deletions
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23
panda/src/bullet/bulletRigidBodyNode.cxx
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@ -34,7 +34,7 @@ BulletRigidBodyNode(const char *name) : BulletBodyNode(name) {
btVector3 inertia(0, 0, 0);
// Motion state and construction info
btDefaultMotionState *motion = new btDefaultMotionState();
MotionState *motion = new MotionState(_sync);
btRigidBody::btRigidBodyConstructionInfo ci(mass, motion, _shape, inertia);
// Additional damping
@ -451,3 +451,24 @@ set_angular_factor(const LVector3f &factor) {
_rigid->setAngularFactor(LVecBase3f_to_btVector3(factor));
}
////////////////////////////////////////////////////////////////////
// Function: BulletRigidBodyNode::MotionState::getWorldTransform
// Access: Public
// Description:
////////////////////////////////////////////////////////////////////
void BulletRigidBodyNode::MotionState::
getWorldTransform(btTransform &trans) const {
trans = TransformState_to_btTrans(_sync);
}
////////////////////////////////////////////////////////////////////
// Function: BulletRigidBodyNode::MotionState::setWorldTransform
// Access: Public
// Description:
////////////////////////////////////////////////////////////////////
void BulletRigidBodyNode::MotionState::
setWorldTransform(const btTransform &trans) {
}

16
panda/src/bullet/bulletRigidBodyNode.h
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@ -91,6 +91,22 @@ protected:
private:
virtual void shape_changed();
// The motion state is required only for kinematic bodies.
// For kinematic nodies getWorldTransform is called each frame, and
// should return the current world transform of the node.
class MotionState : public btMotionState {
public:
MotionState(CPT(TransformState) & sync) : _sync(sync) {};
~MotionState() {};
virtual void getWorldTransform(btTransform &trans) const;
virtual void setWorldTransform(const btTransform &trans);
private:
CPT(TransformState) &_sync;
};
CPT(TransformState) _sync;
bool _sync_disable;