AuroraMiddleware/bullet3
1
0
Fork 0
mirror of https://github.com/bulletphysics/bullet3 synced 2025-01-18 21:10:05 +00:00
Code Issues Releases Wiki Activity

added COLLADA <plane> support (uses StaticPlaneShape )

Browse Source
This commit is contained in:
ejcoumans 2006-07-18 19:38:56 +00:00
parent 1567e5a0d2
commit 60ce7413fe
1 changed files with 38 additions and 1 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

39
Demos/ColladaDemo/ColladaDemo.cpp
View File

@ -21,7 +21,7 @@ subject to the following restrictions:
#include "CollisionShapes/SphereShape.h"
#include "CollisionShapes/CylinderShape.h"
#include "CollisionShapes/ConeShape.h"
#include "CollisionShapes/StaticPlaneShape.h"
#include "CollisionShapes/ConvexHullShape.h"
#include "CollisionShapes/TriangleMesh.h"
#include "CollisionShapes/ConvexTriangleMeshShape.h"
@ -1019,6 +1019,17 @@ int main(int argc,char** argv)
{
domPhysics_sceneRef physicsSceneRef = physicsScenesRef->getPhysics_scene_array()[s];
if (physicsSceneRef->getTechnique_common())
{
if (physicsSceneRef->getTechnique_common()->getGravity())
{
const domFloat3 grav = physicsSceneRef->getTechnique_common()->getGravity()->getValue();
printf("gravity set to %f,%f,%f\n",grav.get(0),grav.get(1),grav.get(2));
physicsEnvironmentPtr->setGravity(grav.get(0),grav.get(1),grav.get(2));
}
}
for (int m=0;m<physicsSceneRef->getInstance_physics_model_array().getCount();m++)
{
domInstance_physics_modelRef instance_physicsModelRef = physicsSceneRef->getInstance_physics_model_array()[m];
@ -1085,6 +1096,18 @@ int main(int argc,char** argv)
{
domRigid_body::domTechnique_common::domShapeRef shapeRef = techniqueRef->getShape_array()[s];
if (shapeRef->getPlane())
{
domPlaneRef planeRef = shapeRef->getPlane();
if (planeRef->getEquation())
{
const domFloat4 planeEq = planeRef->getEquation()->getValue();
SimdVector3 planeNormal(planeEq.get(0),planeEq.get(1),planeEq.get(2));
SimdScalar planeConstant = planeEq.get(3);
colShape = new StaticPlaneShape(planeNormal,planeConstant);
}
}
if (shapeRef->getBox())
{
@ -1378,6 +1401,20 @@ int main(int argc,char** argv)
//find transform of the node that this rigidbody maps to
int i;
//either load the matrix (worldspace) or incrementally build the transform from 'translate'/'rotate'
for (i=0;i<node->getMatrix_array().getCount();i++)
{
domMatrixRef matrixRef = node->getMatrix_array()[i];
domFloat4x4 fl16 = matrixRef->getValue();
SimdVector3 origin(fl16.get(3),fl16.get(7),fl16.get(11));
startTransform.setOrigin(origin);
SimdMatrix3x3 basis(fl16.get(0),fl16.get(1),fl16.get(2),
fl16.get(4),fl16.get(5),fl16.get(6),
fl16.get(8),fl16.get(9),fl16.get(10));
startTransform.setBasis(basis);
}
for (i=0;i<node->getRotate_array().getCount();i++)
{
domRotateRef rotateRef = node->getRotate_array()[i];