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Merge pull request #13836 from AndreaCatania/scale

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Fixed bullet scale on get_transform and joints
This commit is contained in:
Rémi Verschelde 2017-12-11 10:35:09 +01:00 committed by GitHub
commit dfb3634c34
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GPG Key ID: 4AEE18F83AFDEB23
10 changed files with 120 additions and 76 deletions
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39
editor/spatial_editor_gizmos.cpp
View File

@ -2971,10 +2971,10 @@ void SliderJointSpatialGizmo::redraw() {
float ll = p3d->get_param(SliderJoint::PARAM_ANGULAR_LIMIT_LOWER);
float ul = p3d->get_param(SliderJoint::PARAM_ANGULAR_LIMIT_UPPER);
float lll = -p3d->get_param(SliderJoint::PARAM_LINEAR_LIMIT_LOWER);
float lul = -p3d->get_param(SliderJoint::PARAM_LINEAR_LIMIT_UPPER);
float lll = p3d->get_param(SliderJoint::PARAM_LINEAR_LIMIT_LOWER);
float lul = p3d->get_param(SliderJoint::PARAM_LINEAR_LIMIT_UPPER);
if (lll > lul) {
if (lll <= lul) {
cursor_points.push_back(Vector3(lul, 0, 0));
cursor_points.push_back(Vector3(lll, 0, 0));
@ -3167,8 +3167,8 @@ void Generic6DOFJointSpatialGizmo::redraw() {
case 0:
ll = p3d->get_param_x(Generic6DOFJoint::PARAM_ANGULAR_LOWER_LIMIT);
ul = p3d->get_param_x(Generic6DOFJoint::PARAM_ANGULAR_UPPER_LIMIT);
lll = -p3d->get_param_x(Generic6DOFJoint::PARAM_LINEAR_LOWER_LIMIT);
lul = -p3d->get_param_x(Generic6DOFJoint::PARAM_LINEAR_UPPER_LIMIT);
lll = p3d->get_param_x(Generic6DOFJoint::PARAM_LINEAR_LOWER_LIMIT);
lul = p3d->get_param_x(Generic6DOFJoint::PARAM_LINEAR_UPPER_LIMIT);
enable_ang = p3d->get_flag_x(Generic6DOFJoint::FLAG_ENABLE_ANGULAR_LIMIT);
enable_lin = p3d->get_flag_x(Generic6DOFJoint::FLAG_ENABLE_LINEAR_LIMIT);
a1 = 0;
@ -3178,26 +3178,27 @@ void Generic6DOFJointSpatialGizmo::redraw() {
case 1:
ll = p3d->get_param_y(Generic6DOFJoint::PARAM_ANGULAR_LOWER_LIMIT);
ul = p3d->get_param_y(Generic6DOFJoint::PARAM_ANGULAR_UPPER_LIMIT);
lll = -p3d->get_param_y(Generic6DOFJoint::PARAM_LINEAR_LOWER_LIMIT);
lul = -p3d->get_param_y(Generic6DOFJoint::PARAM_LINEAR_UPPER_LIMIT);
lll = p3d->get_param_y(Generic6DOFJoint::PARAM_LINEAR_LOWER_LIMIT);
lul = p3d->get_param_y(Generic6DOFJoint::PARAM_LINEAR_UPPER_LIMIT);
enable_ang = p3d->get_flag_y(Generic6DOFJoint::FLAG_ENABLE_ANGULAR_LIMIT);
enable_lin = p3d->get_flag_y(Generic6DOFJoint::FLAG_ENABLE_LINEAR_LIMIT);
a1 = 2;
a2 = 0;
a3 = 1;
break;
case 2:
ll = p3d->get_param_z(Generic6DOFJoint::PARAM_ANGULAR_LOWER_LIMIT);
ul = p3d->get_param_z(Generic6DOFJoint::PARAM_ANGULAR_UPPER_LIMIT);
lll = -p3d->get_param_z(Generic6DOFJoint::PARAM_LINEAR_LOWER_LIMIT);
lul = -p3d->get_param_z(Generic6DOFJoint::PARAM_LINEAR_UPPER_LIMIT);
enable_ang = p3d->get_flag_z(Generic6DOFJoint::FLAG_ENABLE_ANGULAR_LIMIT);
enable_lin = p3d->get_flag_z(Generic6DOFJoint::FLAG_ENABLE_LINEAR_LIMIT);
a1 = 1;
a2 = 2;
a3 = 0;
break;
case 2:
ll = p3d->get_param_z(Generic6DOFJoint::PARAM_ANGULAR_LOWER_LIMIT);
ul = p3d->get_param_z(Generic6DOFJoint::PARAM_ANGULAR_UPPER_LIMIT);
lll = p3d->get_param_z(Generic6DOFJoint::PARAM_LINEAR_LOWER_LIMIT);
lul = p3d->get_param_z(Generic6DOFJoint::PARAM_LINEAR_UPPER_LIMIT);
enable_ang = p3d->get_flag_z(Generic6DOFJoint::FLAG_ENABLE_ANGULAR_LIMIT);
enable_lin = p3d->get_flag_z(Generic6DOFJoint::FLAG_ENABLE_LINEAR_LIMIT);
a1 = 2;
a2 = 0;
a3 = 1;
break;
}
#define ADD_VTX(x, y, z) \
@ -3218,7 +3219,7 @@ void Generic6DOFJointSpatialGizmo::redraw() {
what = v; \
}
if (enable_lin && lll >= lul) {
if (enable_lin && lll <= lul) {
ADD_VTX(lul, 0, 0);
ADD_VTX(lll, 0, 0);

11
modules/bullet/collision_object_bullet.cpp
View File

@ -76,11 +76,17 @@ bool equal(real_t first, real_t second) {
void CollisionObjectBullet::set_body_scale(const Vector3 &p_new_scale) {
if (!equal(p_new_scale[0], body_scale[0]) || !equal(p_new_scale[1], body_scale[1]) || !equal(p_new_scale[2], body_scale[2])) {
G_TO_B(p_new_scale, body_scale);
body_scale = p_new_scale;
on_body_scale_changed();
}
}
btVector3 CollisionObjectBullet::get_bt_body_scale() const {
btVector3 s;
G_TO_B(body_scale, s);
return s;
}
void CollisionObjectBullet::on_body_scale_changed() {
}
@ -160,6 +166,7 @@ void CollisionObjectBullet::set_transform(const Transform &p_global_transform) {
Transform CollisionObjectBullet::get_transform() const {
Transform t;
B_TO_G(get_transform__bullet(), t);
t.basis.scale(body_scale);
return t;
}
@ -302,7 +309,7 @@ void RigidCollisionObjectBullet::on_shapes_changed() {
}
}
compoundShape->setLocalScaling(body_scale);
compoundShape->setLocalScaling(get_bt_body_scale());
compoundShape->recalculateLocalAabb();
}

4
modules/bullet/collision_object_bullet.h
View File

@ -114,7 +114,7 @@ protected:
bool m_isStatic;
bool ray_pickable;
btCollisionObject *bt_collision_object;
btVector3 body_scale;
Vector3 body_scale;
SpaceBullet *space;
VSet<RID> exceptions;
@ -146,6 +146,8 @@ public:
_FORCE_INLINE_ bool is_ray_pickable() const { return ray_pickable; }
void set_body_scale(const Vector3 &p_new_scale);
const Vector3 &get_body_scale() const { return body_scale; }
btVector3 get_bt_body_scale() const;
virtual void on_body_scale_changed();
void add_collision_exception(const CollisionObjectBullet *p_ignoreCollisionObject);

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));

73
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 {
@ -109,10 +117,12 @@ void Generic6DOFJointBullet::set_param(Vector3::Axis p_axis, PhysicsServer::G6DO
ERR_FAIL_INDEX(p_axis, 3);
switch (p_param) {
case PhysicsServer::G6DOF_JOINT_LINEAR_LOWER_LIMIT:
sixDOFConstraint->getTranslationalLimitMotor()->m_lowerLimit[p_axis] = p_value;
limits_lower[0][p_axis] = p_value;
set_flag(p_axis, PhysicsServer::G6DOF_JOINT_FLAG_ENABLE_LINEAR_LIMIT, flags[p_axis][p_param]); // Reload bullet parameter
break;
case PhysicsServer::G6DOF_JOINT_LINEAR_UPPER_LIMIT:
sixDOFConstraint->getTranslationalLimitMotor()->m_upperLimit[p_axis] = p_value;
limits_upper[0][p_axis] = p_value;
set_flag(p_axis, PhysicsServer::G6DOF_JOINT_FLAG_ENABLE_LINEAR_LIMIT, flags[p_axis][p_param]); // Reload bullet parameter
break;
case PhysicsServer::G6DOF_JOINT_LINEAR_LIMIT_SOFTNESS:
sixDOFConstraint->getTranslationalLimitMotor()->m_limitSoftness = p_value;
@ -124,10 +134,12 @@ void Generic6DOFJointBullet::set_param(Vector3::Axis p_axis, PhysicsServer::G6DO
sixDOFConstraint->getTranslationalLimitMotor()->m_damping = p_value;
break;
case PhysicsServer::G6DOF_JOINT_ANGULAR_LOWER_LIMIT:
sixDOFConstraint->getRotationalLimitMotor(p_axis)->m_loLimit = p_value;
limits_lower[1][p_axis] = p_value;
set_flag(p_axis, PhysicsServer::G6DOF_JOINT_FLAG_ENABLE_ANGULAR_LIMIT, flags[p_axis][p_param]); // Reload bullet parameter
break;
case PhysicsServer::G6DOF_JOINT_ANGULAR_UPPER_LIMIT:
sixDOFConstraint->getRotationalLimitMotor(p_axis)->m_hiLimit = p_value;
limits_upper[1][p_axis] = p_value;
set_flag(p_axis, PhysicsServer::G6DOF_JOINT_FLAG_ENABLE_LINEAR_LIMIT, flags[p_axis][p_param]); // Reload bullet parameter
break;
case PhysicsServer::G6DOF_JOINT_ANGULAR_LIMIT_SOFTNESS:
sixDOFConstraint->getRotationalLimitMotor(p_axis)->m_limitSoftness = p_value;
@ -159,9 +171,9 @@ real_t Generic6DOFJointBullet::get_param(Vector3::Axis p_axis, PhysicsServer::G6
ERR_FAIL_INDEX_V(p_axis, 3, 0.);
switch (p_param) {
case PhysicsServer::G6DOF_JOINT_LINEAR_LOWER_LIMIT:
return sixDOFConstraint->getTranslationalLimitMotor()->m_lowerLimit[p_axis];
return limits_lower[0][p_axis];
case PhysicsServer::G6DOF_JOINT_LINEAR_UPPER_LIMIT:
return sixDOFConstraint->getTranslationalLimitMotor()->m_upperLimit[p_axis];
return limits_upper[0][p_axis];
case PhysicsServer::G6DOF_JOINT_LINEAR_LIMIT_SOFTNESS:
return sixDOFConstraint->getTranslationalLimitMotor()->m_limitSoftness;
case PhysicsServer::G6DOF_JOINT_LINEAR_RESTITUTION:
@ -169,9 +181,9 @@ real_t Generic6DOFJointBullet::get_param(Vector3::Axis p_axis, PhysicsServer::G6
case PhysicsServer::G6DOF_JOINT_LINEAR_DAMPING:
return sixDOFConstraint->getTranslationalLimitMotor()->m_damping;
case PhysicsServer::G6DOF_JOINT_ANGULAR_LOWER_LIMIT:
return sixDOFConstraint->getRotationalLimitMotor(p_axis)->m_loLimit;
return limits_lower[1][p_axis];
case PhysicsServer::G6DOF_JOINT_ANGULAR_UPPER_LIMIT:
return sixDOFConstraint->getRotationalLimitMotor(p_axis)->m_hiLimit;
return limits_upper[1][p_axis];
case PhysicsServer::G6DOF_JOINT_ANGULAR_LIMIT_SOFTNESS:
return sixDOFConstraint->getRotationalLimitMotor(p_axis)->m_limitSoftness;
case PhysicsServer::G6DOF_JOINT_ANGULAR_DAMPING:
@ -194,48 +206,35 @@ real_t Generic6DOFJointBullet::get_param(Vector3::Axis p_axis, PhysicsServer::G6
void Generic6DOFJointBullet::set_flag(Vector3::Axis p_axis, PhysicsServer::G6DOFJointAxisFlag p_flag, bool p_value) {
ERR_FAIL_INDEX(p_axis, 3);
flags[p_axis][p_flag] = p_value;
switch (p_flag) {
case PhysicsServer::G6DOF_JOINT_FLAG_ENABLE_LINEAR_LIMIT:
if (p_value) {
if (!get_flag(p_axis, p_flag)) // avoid overwrite, if limited
sixDOFConstraint->setLimit(p_axis, 0, 0); // Limited
if (flags[p_axis][p_flag]) {
sixDOFConstraint->setLimit(p_axis, limits_lower[0][p_axis], limits_upper[0][p_axis]);
} else {
if (get_flag(p_axis, p_flag)) // avoid overwrite, if free
sixDOFConstraint->setLimit(p_axis, 0, -1); // Free
sixDOFConstraint->setLimit(p_axis, 0, -1); // Free
}
break;
case PhysicsServer::G6DOF_JOINT_FLAG_ENABLE_ANGULAR_LIMIT: {
int angularAxis = 3 + p_axis;
if (p_value) {
if (!get_flag(p_axis, p_flag)) // avoid overwrite, if Limited
sixDOFConstraint->setLimit(angularAxis, 0, 0); // Limited
case PhysicsServer::G6DOF_JOINT_FLAG_ENABLE_ANGULAR_LIMIT:
if (flags[p_axis][p_flag]) {
sixDOFConstraint->setLimit(p_axis + 3, limits_lower[1][p_axis], limits_upper[1][p_axis]);
} else {
if (get_flag(p_axis, p_flag)) // avoid overwrite, if free
sixDOFConstraint->setLimit(angularAxis, 0, -1); // Free
sixDOFConstraint->setLimit(p_axis + 3, 0, -1); // Free
}
break;
}
case PhysicsServer::G6DOF_JOINT_FLAG_ENABLE_MOTOR:
//sixDOFConstraint->getTranslationalLimitMotor()->m_enableMotor[p_axis] = p_value;
sixDOFConstraint->getRotationalLimitMotor(p_axis)->m_enableMotor = p_value;
sixDOFConstraint->getRotationalLimitMotor(p_axis)->m_enableMotor = flags[p_axis][p_flag];
break;
default:
WARN_PRINT("This flag is not supported by Bullet engine");
return;
}
}
bool Generic6DOFJointBullet::get_flag(Vector3::Axis p_axis, PhysicsServer::G6DOFJointAxisFlag p_flag) const {
ERR_FAIL_INDEX_V(p_axis, 3, false);
switch (p_flag) {
case PhysicsServer::G6DOF_JOINT_FLAG_ENABLE_LINEAR_LIMIT:
return sixDOFConstraint->getTranslationalLimitMotor()->isLimited(p_axis);
case PhysicsServer::G6DOF_JOINT_FLAG_ENABLE_ANGULAR_LIMIT:
return sixDOFConstraint->getRotationalLimitMotor(p_axis)->isLimited();
case PhysicsServer::G6DOF_JOINT_FLAG_ENABLE_MOTOR:
return //sixDOFConstraint->getTranslationalLimitMotor()->m_enableMotor[p_axis] &&
sixDOFConstraint->getRotationalLimitMotor(p_axis)->m_enableMotor;
default:
WARN_PRINT("This flag is not supported by Bullet engine");
return false;
}
return flags[p_axis][p_flag];
}

5
modules/bullet/generic_6dof_joint_bullet.h
View File

@ -39,6 +39,11 @@ class RigidBodyBullet;
class Generic6DOFJointBullet : public JointBullet {
class btGeneric6DofConstraint *sixDOFConstraint;
// First is linear second is angular
Vector3 limits_lower[2];
Vector3 limits_upper[2];
bool flags[3][PhysicsServer::G6DOF_JOINT_FLAG_MAX];
public:
Generic6DOFJointBullet(RigidBodyBullet *rbA, RigidBodyBullet *rbB, const Transform &frameInA, const Transform &frameInB, bool useLinearReferenceFrameA);

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/rigid_body_bullet.cpp
View File

@ -198,6 +198,8 @@ void RigidBodyBullet::KinematicUtilities::copyAllOwnerShapes() {
const CollisionObjectBullet::ShapeWrapper *shape_wrapper;
btVector3 owner_body_scale(owner->get_bt_body_scale());
for (int i = shapes_count - 1; 0 <= i; --i) {
shape_wrapper = &shapes_wrappers[i];
if (!shape_wrapper->active) {
@ -210,28 +212,29 @@ void RigidBodyBullet::KinematicUtilities::copyAllOwnerShapes() {
switch (shape_wrapper->shape->get_type()) {
case PhysicsServer::SHAPE_SPHERE: {
SphereShapeBullet *sphere = static_cast<SphereShapeBullet *>(shape_wrapper->shape);
kin_shape_ref = ShapeBullet::create_shape_sphere(sphere->get_radius() * owner->body_scale[0] + safe_margin);
kin_shape_ref = ShapeBullet::create_shape_sphere(sphere->get_radius() * owner_body_scale[0] + safe_margin);
break;
}
case PhysicsServer::SHAPE_BOX: {
BoxShapeBullet *box = static_cast<BoxShapeBullet *>(shape_wrapper->shape);
kin_shape_ref = ShapeBullet::create_shape_box((box->get_half_extents() * owner->body_scale) + btVector3(safe_margin, safe_margin, safe_margin));
kin_shape_ref = ShapeBullet::create_shape_box((box->get_half_extents() * owner_body_scale) + btVector3(safe_margin, safe_margin, safe_margin));
break;
}
case PhysicsServer::SHAPE_CAPSULE: {
CapsuleShapeBullet *capsule = static_cast<CapsuleShapeBullet *>(shape_wrapper->shape);
kin_shape_ref = ShapeBullet::create_shape_capsule(capsule->get_radius() * owner->body_scale[0] + safe_margin, capsule->get_height() * owner->body_scale[1] + safe_margin);
kin_shape_ref = ShapeBullet::create_shape_capsule(capsule->get_radius() * owner_body_scale[0] + safe_margin, capsule->get_height() * owner_body_scale[1] + safe_margin);
break;
}
case PhysicsServer::SHAPE_CONVEX_POLYGON: {
ConvexPolygonShapeBullet *godot_convex = static_cast<ConvexPolygonShapeBullet *>(shape_wrapper->shape);
kin_shape_ref = ShapeBullet::create_shape_convex(godot_convex->vertices);
kin_shape_ref->setLocalScaling(owner->body_scale + btVector3(safe_margin, safe_margin, safe_margin));
kin_shape_ref->setLocalScaling(owner_body_scale + btVector3(safe_margin, safe_margin, safe_margin));
break;
}
case PhysicsServer::SHAPE_RAY: {
RayShapeBullet *godot_ray = static_cast<RayShapeBullet *>(shape_wrapper->shape);
kin_shape_ref = ShapeBullet::create_shape_ray(godot_ray->length * owner->body_scale[1] + safe_margin);
kin_shape_ref = ShapeBullet::create_shape_ray(godot_ray->length * owner_body_scale[1] + safe_margin);
break;
}
default:

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 {