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Added methods for getting and setting (overriding) inertia.

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This commit is contained in:
enn0x 2011-09-06 22:16:58 +00:00
parent bee0fa5a7f
commit 66ace2c235
6 changed files with 73 additions and 30 deletions
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8
panda/src/bullet/bulletGhostNode.cxx
View File

@ -77,9 +77,11 @@ transform_changed() {
if (ts->has_scale()) {
LVecBase3f scale = ts->get_scale();
for (int i=0; i<get_num_shapes(); i++) {
PT(BulletShape) shape = _shapes[i];
shape->set_local_scale(scale);
if (!scale.almost_equal(LVecBase3f(1.0f, 1.0f, 1.0f))) {
for (int i=0; i<get_num_shapes(); i++) {
PT(BulletShape) shape = _shapes[i];
shape->set_local_scale(scale);
}
}
}
}

69
panda/src/bullet/bulletRigidBodyNode.cxx
View File

@ -97,13 +97,14 @@ shape_changed() {
void BulletRigidBodyNode::
set_mass(float mass) {
btVector3 inertia(0.0f, 0.0f, 0.0f);
btScalar bt_mass = mass;
btVector3 bt_inertia(0.0, 0.0, 0.0);
if (mass > 0.0f) {
_rigid->getCollisionShape()->calculateLocalInertia(mass, inertia);
if (bt_mass > 0.0) {
_rigid->getCollisionShape()->calculateLocalInertia(bt_mass, bt_inertia);
}
_rigid->setMassProps(mass, inertia);
_rigid->setMassProps(bt_mass, bt_inertia);
_rigid->updateInertiaTensor();
}
@ -115,14 +116,46 @@ set_mass(float mass) {
float BulletRigidBodyNode::
get_mass() const {
btScalar invMass = _rigid->getInvMass();
btScalar inv_mass = _rigid->getInvMass();
btScalar mass = inv_mass == btScalar(0.0) ? btScalar(0.0) : btScalar(1.0) / inv_mass;
if (invMass == 0.0f) {
return 0.0f;
}
else {
return 1.0f / invMass;
}
return mass;
}
////////////////////////////////////////////////////////////////////
// Function: BulletRigidBodyNode::set_inertia
// Access: Published
// Description:
////////////////////////////////////////////////////////////////////
void BulletRigidBodyNode::
set_inertia(const LVecBase3f &inertia) {
btVector3 inv_inertia(
inertia.get_x() == 0.0 ? btScalar(0.0) : btScalar(1.0 / inertia.get_x()),
inertia.get_y() == 0.0 ? btScalar(0.0) : btScalar(1.0 / inertia.get_y()),
inertia.get_z() == 0.0 ? btScalar(0.0) : btScalar(1.0 / inertia.get_z())
);
_rigid->setInvInertiaDiagLocal(inv_inertia);
_rigid->updateInertiaTensor();
}
////////////////////////////////////////////////////////////////////
// Function: BulletRigidBodyNode::get_inertia
// Access: Published
// Description:
////////////////////////////////////////////////////////////////////
LVector3f BulletRigidBodyNode::
get_inertia() const {
btVector3 inv_inertia = _rigid->getInvInertiaDiagLocal();
LVector3f inertia(
inv_inertia.x() == btScalar(0.0) ? 0.0 : 1.0 / inv_inertia.x(),
inv_inertia.y() == btScalar(0.0) ? 0.0 : 1.0 / inv_inertia.y(),
inv_inertia.z() == btScalar(0.0) ? 0.0 : 1.0 / inv_inertia.z()
);
return inertia;
}
////////////////////////////////////////////////////////////////////
@ -137,7 +170,7 @@ apply_force(const LVector3f &force, const LPoint3f &pos) {
nassertv_always(!pos.is_nan());
_rigid->applyForce(LVecBase3f_to_btVector3(force),
LVecBase3f_to_btVector3(pos));
LVecBase3f_to_btVector3(pos));
}
////////////////////////////////////////////////////////////////////
@ -191,7 +224,7 @@ apply_impulse(const LVector3f &impulse, const LPoint3f &pos) {
nassertv_always(!pos.is_nan());
_rigid->applyImpulse(LVecBase3f_to_btVector3(impulse),
LVecBase3f_to_btVector3(pos));
LVecBase3f_to_btVector3(pos));
}
////////////////////////////////////////////////////////////////////
@ -231,9 +264,13 @@ transform_changed() {
if (ts->has_scale()) {
LVecBase3f scale = ts->get_scale();
for (int i=0; i<get_num_shapes(); i++) {
PT(BulletShape) shape = _shapes[i];
shape->set_local_scale(scale);
if (!scale.almost_equal(LVecBase3f(1.0f, 1.0f, 1.0f))) {
for (int i=0; i<get_num_shapes(); i++) {
PT(BulletShape) shape = _shapes[i];
shape->set_local_scale(scale);
}
shape_changed();
}
}

6
panda/src/bullet/bulletRigidBodyNode.h
View File

@ -36,9 +36,11 @@ PUBLISHED:
BulletRigidBodyNode(const char *name="rigid");
INLINE ~BulletRigidBodyNode();
// Mass
float get_mass() const;
// Mass & inertia
void set_mass(float mass);
float get_mass() const;
void set_inertia(const LVecBase3f &inertia);
LVector3f get_inertia() const;
// Velocity
LVector3f get_linear_velocity() const;

4
panda/src/bullet/bulletShape.cxx
View File

@ -52,7 +52,7 @@ set_margin(float margin) {
////////////////////////////////////////////////////////////////////
// Function: BulletShape::get_local_scale
// Access: Published
// Access: Public
// Description:
////////////////////////////////////////////////////////////////////
LVecBase3f BulletShape::
@ -63,7 +63,7 @@ get_local_scale() const {
////////////////////////////////////////////////////////////////////
// Function: BulletShape::set_local_scale
// Access: Published
// Access: Public
// Description:
////////////////////////////////////////////////////////////////////
void BulletShape::

8
panda/src/bullet/bulletShape.h
View File

@ -20,7 +20,6 @@
#include "bullet_includes.h"
#include "typedReferenceCount.h"
//#include "lvector3.h"
////////////////////////////////////////////////////////////////////
// Class : BulletShape
@ -40,15 +39,16 @@ PUBLISHED:
INLINE bool is_soft_body() const;
void set_margin(float margin);
void set_local_scale(const LVecBase3f &scaling);
const char *get_name() const;
float get_margin() const;
LVecBase3f get_local_scale() const;
public:
virtual btCollisionShape *ptr() const = 0;
LVecBase3f get_local_scale() const;
void set_local_scale(const LVecBase3f &scale);
////////////////////////////////////////////////////////////////////
public:
static TypeHandle get_class_type() {

8
panda/src/bullet/bulletSoftBodyNode.cxx
View File

@ -202,9 +202,11 @@ transform_changed() {
if (ts->has_scale()) {
LVecBase3f scale = ts->get_scale();
for (int i=0; i<get_num_shapes(); i++) {
PT(BulletShape) shape = _shapes[i];
shape->set_local_scale(scale);
if (!scale.almost_equal(LVecBase3f(1.0f, 1.0f, 1.0f))) {
for (int i=0; i<get_num_shapes(); i++) {
PT(BulletShape) shape = _shapes[i];
shape->set_local_scale(scale);
}
}
}
}