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Fixed joint scale

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This commit is contained in:
AndreaCatania 2017-12-09 01:22:36 +01:00
parent 5cfc98cace
commit 32408f3bfd
5 changed files with 49 additions and 14 deletions
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14
modules/bullet/cone_twist_joint_bullet.cpp
View file

@ -37,11 +37,21 @@
ConeTwistJointBullet::ConeTwistJointBullet(RigidBodyBullet *rbA, RigidBodyBullet *rbB, const Transform &rbAFrame, const Transform &rbBFrame) :
JointBullet() {
Transform scaled_AFrame(rbAFrame.scaled(rbA->get_body_scale()));
scaled_AFrame.basis.rotref_posscale_decomposition(scaled_AFrame.basis);
btTransform btFrameA;
G_TO_B(rbAFrame, btFrameA);
G_TO_B(scaled_AFrame, btFrameA);
if (rbB) {
Transform scaled_BFrame(rbBFrame.scaled(rbB->get_body_scale()));
scaled_BFrame.basis.rotref_posscale_decomposition(scaled_BFrame.basis);
btTransform btFrameB;
G_TO_B(rbBFrame, btFrameB);
G_TO_B(scaled_BFrame, btFrameB);
coneConstraint = bulletnew(btConeTwistConstraint(*rbA->get_bt_rigid_body(), *rbB->get_bt_rigid_body(), btFrameA, btFrameB));
} else {
coneConstraint = bulletnew(btConeTwistConstraint(*rbA->get_bt_rigid_body(), btFrameA));

12
modules/bullet/generic_6dof_joint_bullet.cpp
View file

@ -38,12 +38,20 @@
Generic6DOFJointBullet::Generic6DOFJointBullet(RigidBodyBullet *rbA, RigidBodyBullet *rbB, const Transform &frameInA, const Transform &frameInB, bool useLinearReferenceFrameA) :
JointBullet() {
Transform scaled_AFrame(frameInA.scaled(rbA->get_body_scale()));
scaled_AFrame.basis.rotref_posscale_decomposition(scaled_AFrame.basis);
btTransform btFrameA;
G_TO_B(frameInA, btFrameA);
G_TO_B(scaled_AFrame, btFrameA);
if (rbB) {
Transform scaled_BFrame(frameInB.scaled(rbB->get_body_scale()));
scaled_BFrame.basis.rotref_posscale_decomposition(scaled_BFrame.basis);
btTransform btFrameB;
G_TO_B(frameInB, btFrameB);
G_TO_B(scaled_BFrame, btFrameB);
sixDOFConstraint = bulletnew(btGeneric6DofConstraint(*rbA->get_bt_rigid_body(), *rbB->get_bt_rigid_body(), btFrameA, btFrameB, useLinearReferenceFrameA));
} else {

20
modules/bullet/hinge_joint_bullet.cpp
View file

@ -37,12 +37,20 @@
HingeJointBullet::HingeJointBullet(RigidBodyBullet *rbA, RigidBodyBullet *rbB, const Transform &frameA, const Transform &frameB) :
JointBullet() {
Transform scaled_AFrame(frameA.scaled(rbA->get_body_scale()));
scaled_AFrame.basis.rotref_posscale_decomposition(scaled_AFrame.basis);
btTransform btFrameA;
G_TO_B(frameA, btFrameA);
G_TO_B(scaled_AFrame, btFrameA);
if (rbB) {
Transform scaled_BFrame(frameB.scaled(rbB->get_body_scale()));
scaled_BFrame.basis.rotref_posscale_decomposition(scaled_BFrame.basis);
btTransform btFrameB;
G_TO_B(frameB, btFrameB);
G_TO_B(scaled_BFrame, btFrameB);
hingeConstraint = bulletnew(btHingeConstraint(*rbA->get_bt_rigid_body(), *rbB->get_bt_rigid_body(), btFrameA, btFrameB));
} else {
@ -58,14 +66,14 @@ HingeJointBullet::HingeJointBullet(RigidBodyBullet *rbA, RigidBodyBullet *rbB, c
btVector3 btPivotA;
btVector3 btAxisA;
G_TO_B(pivotInA, btPivotA);
G_TO_B(axisInA, btAxisA);
G_TO_B(pivotInA * rbA->get_body_scale(), btPivotA);
G_TO_B(axisInA * rbA->get_body_scale(), btAxisA);
if (rbB) {
btVector3 btPivotB;
btVector3 btAxisB;
G_TO_B(pivotInB, btPivotB);
G_TO_B(axisInB, btAxisB);
G_TO_B(pivotInB * rbB->get_body_scale(), btPivotB);
G_TO_B(axisInB * rbB->get_body_scale(), btAxisB);
hingeConstraint = bulletnew(btHingeConstraint(*rbA->get_bt_rigid_body(), *rbB->get_bt_rigid_body(), btPivotA, btPivotB, btAxisA, btAxisB));
} else {

4
modules/bullet/pin_joint_bullet.cpp
View file

@ -40,8 +40,8 @@ PinJointBullet::PinJointBullet(RigidBodyBullet *p_body_a, const Vector3 &p_pos_a
btVector3 btPivotA;
btVector3 btPivotB;
G_TO_B(p_pos_a, btPivotA);
G_TO_B(p_pos_b, btPivotB);
G_TO_B(p_pos_a * p_body_a->get_body_scale(), btPivotA);
G_TO_B(p_pos_b * p_body_b->get_body_scale(), btPivotB);
p2pConstraint = bulletnew(btPoint2PointConstraint(*p_body_a->get_bt_rigid_body(),
*p_body_b->get_bt_rigid_body(),
btPivotA,

13
modules/bullet/slider_joint_bullet.cpp
View file

@ -37,11 +37,20 @@
SliderJointBullet::SliderJointBullet(RigidBodyBullet *rbA, RigidBodyBullet *rbB, const Transform &frameInA, const Transform &frameInB) :
JointBullet() {
Transform scaled_AFrame(frameInA.scaled(rbA->get_body_scale()));
scaled_AFrame.basis.rotref_posscale_decomposition(scaled_AFrame.basis);
btTransform btFrameA;
G_TO_B(frameInA, btFrameA);
G_TO_B(scaled_AFrame, btFrameA);
if (rbB) {
Transform scaled_BFrame(frameInB.scaled(rbB->get_body_scale()));
scaled_BFrame.basis.rotref_posscale_decomposition(scaled_BFrame.basis);
btTransform btFrameB;
G_TO_B(frameInB, btFrameB);
G_TO_B(scaled_BFrame, btFrameB);
sliderConstraint = bulletnew(btSliderConstraint(*rbA->get_bt_rigid_body(), *rbB->get_bt_rigid_body(), btFrameA, btFrameB, true));
} else {