82 lines
2.2 KiB
C++
82 lines
2.2 KiB
C++
#include "Rigidbody.h"
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#include "World.h"
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Rigidbody::Rigidbody() {
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collisionShape = new btSphereShape(1.0f);
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}
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Rigidbody *Rigidbody::Create() {
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return new Rigidbody;
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}
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Rigidbody *Rigidbody::Duplicate() {
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Rigidbody *rigidbody = static_cast<Rigidbody*>(Spatial::Duplicate());
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rigidbody->collisionShape = collisionShape;
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rigidbody->btBody = btBody;
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rigidbody->mass = mass;
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return rigidbody;
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}
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Rigidbody *Rigidbody::Instance() {
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Rigidbody *rigidbody = static_cast<Rigidbody*>(Node::Instance());
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rigidbody->collisionShape = collisionShape;
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rigidbody->btBody = new btRigidBody(rigidbody->mass, new RigidbodyMotionState(rigidbody), rigidbody->collisionShape);
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rigidbody->btBody->setAngularFactor(character ? 0.0f : 1.0f);
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World *world = World::GetWorld();
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world->AddRigidbody(rigidbody);
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return rigidbody;
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}
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void Rigidbody::SetCollisionShape(CollisionShape collisionShape) {
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if (this->collisionShape) {
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delete this->collisionShape;
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}
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this->collisionShape = collisionShape.shape;
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}
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void Rigidbody::ApplyImpulse(Vector3 impulse) {
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btBody->applyCentralImpulse(btVector3(impulse.x, impulse.y, impulse.z));
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}
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void Rigidbody::ApplyForce(Vector3 force) {
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btBody->applyCentralForce(btVector3(force.x, force.y, force.z));
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}
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void Rigidbody::SetCharacter(bool character) {
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this->character = character;
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}
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RigidbodyMotionState::RigidbodyMotionState(Rigidbody *rigidbody) {
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this->rigidbody = rigidbody;
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}
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void RigidbodyMotionState::getWorldTransform(btTransform &worldTrans) const {
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Transform transform = rigidbody->GetTransform();
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worldTrans.setOrigin(btVector3(
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transform.position.x,
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transform.position.y,
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transform.position.z));
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btQuaternion quat;
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quat.setEuler(transform.rotation.z,
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transform.rotation.y,
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transform.rotation.x);
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worldTrans.setRotation(quat);
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}
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void RigidbodyMotionState::setWorldTransform(const btTransform &worldTrans) {
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Transform transform = rigidbody->GetTransform();
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transform.position = Vector3(worldTrans.getOrigin().getX(),
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worldTrans.getOrigin().getY(),
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worldTrans.getOrigin().getZ());
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worldTrans.getRotation().getEulerZYX(transform.rotation.z,
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transform.rotation.y,
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transform.rotation.x);
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rigidbody->SetTransform(transform);
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}
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