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81 lines
2.3 KiB
C++
81 lines
2.3 KiB
C++
/*
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* =====================================================================================
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*
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* Filename: BtOgrePG.h
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*
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* Description: The part of BtOgre that handles information transfer from Bullet to
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* Ogre (like updating graphics object positions).
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*
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* Version: 1.0
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* Created: 27/12/2008 03:40:56 AM
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*
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* Author: Nikhilesh (nikki)
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*
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* =====================================================================================
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*/
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#ifndef BtOgreGP_H_
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#define BtOgreGP_H_
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#include "btBulletDynamicsCommon.h"
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#include "OgreSceneNode.h"
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#include "BtOgreExtras.h"
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namespace BtOgre {
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//A MotionState is Bullet's way of informing you about updates to an object.
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//Pass this MotionState to a btRigidBody to have your SceneNode updated automaticaly.
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class RigidBodyState : public btMotionState
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{
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protected:
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btTransform mTransform;
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btTransform mCenterOfMassOffset;
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Ogre::SceneNode *mNode;
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public:
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RigidBodyState(Ogre::SceneNode *node, const btTransform &transform, const btTransform &offset = btTransform::getIdentity())
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: mTransform(transform),
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mCenterOfMassOffset(offset),
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mNode(node)
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{
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}
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RigidBodyState(Ogre::SceneNode *node)
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: mTransform(((node != NULL) ? BtOgre::Convert::toBullet(node->getOrientation()) : btQuaternion(0,0,0,1)),
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((node != NULL) ? BtOgre::Convert::toBullet(node->getPosition()) : btVector3(0,0,0))),
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mCenterOfMassOffset(btTransform::getIdentity()),
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mNode(node)
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{
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}
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virtual void getWorldTransform(btTransform &ret) const
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{
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ret = mCenterOfMassOffset.inverse() * mTransform;
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}
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virtual void setWorldTransform(const btTransform &in)
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{
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if (mNode == NULL)
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return;
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mTransform = in;
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btTransform transform = in * mCenterOfMassOffset;
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btQuaternion rot = transform.getRotation();
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btVector3 pos = transform.getOrigin();
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mNode->setOrientation(rot.w(), rot.x(), rot.y(), rot.z());
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mNode->setPosition(pos.x(), pos.y(), pos.z());
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}
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void setNode(Ogre::SceneNode *node)
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{
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mNode = node;
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}
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};
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//Softbody-Ogre connection goes here!
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}
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#endif
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