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added some 'angularFactor' for character control (to avoid rotation)

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This commit is contained in:
Erwin Coumans
2006-12-04 04:31:34 +00:00
parent 2ec5d00da9
commit f22ee3f86f
3 changed files with 20 additions and 5 deletions
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1
extern/bullet2/src/BulletDynamics/Dynamics/btRigidBody.cpp vendored
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@@ -35,6 +35,7 @@ btRigidBody::btRigidBody(float mass, btMotionState* motionState, btCollisionShap
m_totalTorque(0.0f, 0.0f, 0.0f),
m_linearVelocity(0.0f, 0.0f, 0.0f),
m_angularVelocity(0.f,0.f,0.f),
m_angularFactor(1.f),
m_linearDamping(0.f),
m_angularDamping(0.5f),
m_optionalMotionState(motionState),

19
extern/bullet2/src/BulletDynamics/Dynamics/btRigidBody.h vendored
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@@ -47,6 +47,7 @@ class btRigidBody : public btCollisionObject
btVector3 m_linearVelocity;
btVector3 m_angularVelocity;
btScalar m_inverseMass;
btScalar m_angularFactor;
btVector3 m_gravity;
btVector3 m_invInertiaLocal;
@@ -159,7 +160,10 @@ public:
if (m_inverseMass != 0.f)
{
applyCentralImpulse(impulse);
applyTorqueImpulse(rel_pos.cross(impulse));
if (m_angularFactor)
{
applyTorqueImpulse(rel_pos.cross(impulse)*m_angularFactor);
}
}
}
@@ -169,7 +173,10 @@ public:
if (m_inverseMass != 0.f)
{
m_linearVelocity += linearComponent*impulseMagnitude;
m_angularVelocity += angularComponent*impulseMagnitude;
if (m_angularFactor)
{
m_angularVelocity += angularComponent*impulseMagnitude*m_angularFactor;
}
}
}
@@ -321,6 +328,14 @@ public:
int m_contactSolverType;
int m_frictionSolverType;
void setAngularFactor(float angFac)
{
m_angularFactor = angFac;
}
float getAngularFactor() const
{
return m_angularFactor;
}
int m_debugBodyId;

5
source/gameengine/Ketsji/KX_ConvertPhysicsObjects.cpp
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@@ -1156,9 +1156,8 @@ void KX_ConvertBulletObject( class KX_GameObject* gameobj,
physicscontroller->GetRigidBody()->updateInertiaTensor();
*/
env->createConstraint(physicscontroller,0,PHY_ANGULAR_CONSTRAINT,0,0,0,0,0,1);
//env->createConstraint(physicscontroller,0,PHY_ANGULAR_CONSTRAINT,0,0,0,0,0,1);
physicscontroller->GetRigidBody()->setAngularFactor(0.f);
}