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Physics: extrapolate kinematic objects as well as dynamic ones.

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This commit is contained in:
Anthony J. Thibault 2016-02-23 12:07:14 -08:00
parent 0fd260076b
commit e544275500
2 changed files with 14 additions and 7 deletions
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2
libraries/physics/src/EntityMotionState.cpp
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@ -191,7 +191,7 @@ void EntityMotionState::getWorldTransform(btTransform& worldTrans) const {
}
// This callback is invoked by the physics simulation at the end of each simulation step...
// iff the corresponding RigidBody is DYNAMIC and has moved.
// iff the corresponding RigidBody is active.
void EntityMotionState::setWorldTransform(const btTransform& worldTrans) {
if (!_entity) {
return;

19
libraries/physics/src/ThreadSafeDynamicsWorld.cpp
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@ -96,19 +96,26 @@ void ThreadSafeDynamicsWorld::synchronizeMotionState(btRigidBody* body) {
///@todo: add 'dirty' flag
//if (body->getActivationState() != ISLAND_SLEEPING)
{
btTransform bodyTransform;
btVector3 bodyLinearVelocity, bodyAngularVelocity;
if (body->isKinematicObject()) {
ObjectMotionState* objectMotionState = static_cast<ObjectMotionState*>(body->getMotionState());
if (objectMotionState->hasInternalKinematicChanges()) {
objectMotionState->clearInternalKinematicChanges();
body->getMotionState()->setWorldTransform(body->getWorldTransform());
}
return;
bodyTransform = body->getWorldTransform();
bodyLinearVelocity = body->getLinearVelocity();
bodyAngularVelocity = body->getAngularVelocity();
} else {
bodyTransform = body->getInterpolationWorldTransform();
bodyLinearVelocity = body->getInterpolationLinearVelocity();
bodyAngularVelocity = body->getInterpolationAngularVelocity();
}
// integrate the object foward to cover the time in-between fixed time steps.
btScalar dt = (m_latencyMotionStateInterpolation && m_fixedTimeStep) ? m_localTime - m_fixedTimeStep : m_localTime * body->getHitFraction();
btTransform interpolatedTransform;
btTransformUtil::integrateTransform(body->getInterpolationWorldTransform(),
body->getInterpolationLinearVelocity(),body->getInterpolationAngularVelocity(),
(m_latencyMotionStateInterpolation && m_fixedTimeStep) ? m_localTime - m_fixedTimeStep : m_localTime*body->getHitFraction(),
interpolatedTransform);
btTransformUtil::integrateTransform(bodyTransform, bodyLinearVelocity, bodyAngularVelocity, dt, interpolatedTransform);
body->getMotionState()->setWorldTransform(interpolatedTransform);
}
}