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store backpointer to MotionState in btRigidBody

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This commit is contained in:
Andrew Meadows 2015-01-20 10:45:58 -08:00
parent 4112acc382
commit 549e3fac5f
3 changed files with 24 additions and 8 deletions
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13
libraries/physics/src/ObjectMotionState.cpp
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@ -170,3 +170,16 @@ void ObjectMotionState::removeKinematicController() {
_kinematicController = NULL; _kinematicController = NULL;
} }
} }
void ObjectMotionState::setRigidBody(btRigidBody* body) {
// give the body a (void*) back-pointer to this ObjectMotionState
if (_body != body) {
if (_body) {
_body->setUserPointer(NULL);
}
_body = body;
if (_body) {
_body->setUserPointer(this);
}
}
}

7
libraries/physics/src/ObjectMotionState.h
View file

@ -88,9 +88,13 @@ public:
virtual void addKinematicController() = 0; virtual void addKinematicController() = 0;
virtual void removeKinematicController(); virtual void removeKinematicController();
btRigidBody* getRigidBody() const { return _body; }
friend class PhysicsEngine; friend class PhysicsEngine;
protected: protected:
// TODO: move these materials properties to EntityItem void setRigidBody(btRigidBody* body);
// TODO: move these materials properties outside of ObjectMotionState
float _friction; float _friction;
float _restitution; float _restitution;
float _linearDamping; float _linearDamping;
@ -98,7 +102,6 @@ protected:
MotionType _motionType; MotionType _motionType;
// _body has NO setters -- it is only changed by PhysicsEngine
btRigidBody* _body; btRigidBody* _body;
bool _sentMoving; // true if last update was moving bool _sentMoving; // true if last update was moving

12
libraries/physics/src/PhysicsEngine.cpp
View file

@ -132,7 +132,7 @@ void PhysicsEngine::relayIncomingChangesToSimulation() {
ObjectMotionState* motionState = *stateItr; ObjectMotionState* motionState = *stateItr;
uint32_t flags = motionState->getIncomingDirtyFlags() & DIRTY_PHYSICS_FLAGS; uint32_t flags = motionState->getIncomingDirtyFlags() & DIRTY_PHYSICS_FLAGS;
btRigidBody* body = motionState->_body; btRigidBody* body = motionState->getRigidBody();
if (body) { if (body) {
if (flags & HARD_DIRTY_PHYSICS_FLAGS) { if (flags & HARD_DIRTY_PHYSICS_FLAGS) {
// a HARD update requires the body be pulled out of physics engine, changed, then reinserted // a HARD update requires the body be pulled out of physics engine, changed, then reinserted
@ -258,7 +258,7 @@ bool PhysicsEngine::addObject(ObjectMotionState* motionState) {
body = new btRigidBody(mass, motionState, shape, inertia); body = new btRigidBody(mass, motionState, shape, inertia);
body->setCollisionFlags(btCollisionObject::CF_KINEMATIC_OBJECT); body->setCollisionFlags(btCollisionObject::CF_KINEMATIC_OBJECT);
body->updateInertiaTensor(); body->updateInertiaTensor();
motionState->_body = body; motionState->setRigidBody(body);
motionState->addKinematicController(); motionState->addKinematicController();
const float KINEMATIC_LINEAR_VELOCITY_THRESHOLD = 0.01f; // 1 cm/sec const float KINEMATIC_LINEAR_VELOCITY_THRESHOLD = 0.01f; // 1 cm/sec
const float KINEMATIC_ANGULAR_VELOCITY_THRESHOLD = 0.01f; // ~1 deg/sec const float KINEMATIC_ANGULAR_VELOCITY_THRESHOLD = 0.01f; // ~1 deg/sec
@ -270,7 +270,7 @@ bool PhysicsEngine::addObject(ObjectMotionState* motionState) {
shape->calculateLocalInertia(mass, inertia); shape->calculateLocalInertia(mass, inertia);
body = new btRigidBody(mass, motionState, shape, inertia); body = new btRigidBody(mass, motionState, shape, inertia);
body->updateInertiaTensor(); body->updateInertiaTensor();
motionState->_body = body; motionState->setRigidBody(body);
motionState->updateObjectVelocities(); motionState->updateObjectVelocities();
// NOTE: Bullet will deactivate any object whose velocity is below these thresholds for longer than 2 seconds. // NOTE: Bullet will deactivate any object whose velocity is below these thresholds for longer than 2 seconds.
// (the 2 seconds is determined by: static btRigidBody::gDeactivationTime // (the 2 seconds is determined by: static btRigidBody::gDeactivationTime
@ -284,7 +284,7 @@ bool PhysicsEngine::addObject(ObjectMotionState* motionState) {
body = new btRigidBody(mass, motionState, shape, inertia); body = new btRigidBody(mass, motionState, shape, inertia);
body->setCollisionFlags(btCollisionObject::CF_STATIC_OBJECT); body->setCollisionFlags(btCollisionObject::CF_STATIC_OBJECT);
body->updateInertiaTensor(); body->updateInertiaTensor();
motionState->_body = body; motionState->setRigidBody(body);
break; break;
} }
} }
@ -301,7 +301,7 @@ bool PhysicsEngine::addObject(ObjectMotionState* motionState) {
bool PhysicsEngine::removeObject(ObjectMotionState* motionState) { bool PhysicsEngine::removeObject(ObjectMotionState* motionState) {
assert(motionState); assert(motionState);
btRigidBody* body = motionState->_body; btRigidBody* body = motionState->getRigidBody();
if (body) { if (body) {
const btCollisionShape* shape = body->getCollisionShape(); const btCollisionShape* shape = body->getCollisionShape();
ShapeInfo shapeInfo; ShapeInfo shapeInfo;
@ -309,7 +309,7 @@ bool PhysicsEngine::removeObject(ObjectMotionState* motionState) {
_dynamicsWorld->removeRigidBody(body); _dynamicsWorld->removeRigidBody(body);
_shapeManager.releaseShape(shapeInfo); _shapeManager.releaseShape(shapeInfo);
delete body; delete body;
motionState->_body = NULL; motionState->setRigidBody(NULL);
motionState->removeKinematicController(); motionState->removeKinematicController();
return true; return true;
} }