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Made physics let you move stuff

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This commit is contained in:
Vulpovile
2022-10-02 14:28:29 -07:00
parent 226f2adda4
commit 316359a395
8 changed files with 65 additions and 18 deletions
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43
src/source/XplicitNgine/XplicitNgine.cpp
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@@ -66,6 +66,20 @@ void collisionCallback(void *data, dGeomID o1, dGeomID o2)
}
}
void XplicitNgine::deleteBody(PartInstance* partInstance)
{
if(partInstance->physBody != NULL)
{
while(dBodyGetNumJoints(partInstance->physBody) > 0) {
dJointDestroy(dBodyGetJoint(partInstance->physBody, 0));
}
dBodyDestroy(partInstance->physBody);
dGeomDestroy(partInstance->physGeom[0]);
printf("Body should be destroyed");
partInstance->physBody = NULL;
}
}
void XplicitNgine::createBody(PartInstance* partInstance)
{
// calculate collisions
@@ -131,7 +145,7 @@ void XplicitNgine::createBody(PartInstance* partInstance)
// Probably should be done AFTER we get physics KINDA working!!!
const dReal* physRotation = dGeomGetRotation(partInstance->physGeom[0]);
//partInstance->setPosition(Vector3(physPosition[0], physPosition[1], physPosition[2]));
partInstance->setCFrame(CoordinateFrame(
partInstance->setCFrameNoSync(CoordinateFrame(
Matrix3(physRotation[0],physRotation[1],physRotation[2],
physRotation[4],physRotation[5],physRotation[6],
physRotation[8],physRotation[9],physRotation[10]),
@@ -141,4 +155,31 @@ void XplicitNgine::createBody(PartInstance* partInstance)
dWorldQuickStep(physWorld,0.05F);
dJointGroupEmpty(contactgroup);
}
void XplicitNgine::updateBody(PartInstance *partInstance, CoordinateFrame * cFrame)
{
if(partInstance->physBody != NULL)
{
printf("Position is supposed to be set\n");
Vector3 position = cFrame->translation;
dBodySetPosition(partInstance->physBody,
position[0],
position[1],
position[2]
);
Matrix3 g3dRot = cFrame->rotation;
float rotation [12] = { g3dRot[0][0], g3dRot[0][1], g3dRot[0][2], 0,
g3dRot[1][0], g3dRot[1][1], g3dRot[1][2], 0,
g3dRot[2][0], g3dRot[2][1], g3dRot[2][2], 0};
dBodySetRotation(partInstance->physBody, rotation);
}
else
{
printf("Null???\n");
}
}