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Merge branch 'master' into physics3d-material

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This commit is contained in:
Lynix
2017-12-14 18:15:35 +01:00
parent afa874de26 5aab9b248d
commit e302667c21
11 changed files with 161 additions and 31 deletions
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27
src/Nazara/Physics3D/RigidBody3D.cpp
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@@ -6,6 +6,7 @@
#include <Nazara/Physics3D/PhysWorld3D.hpp>
#include <Newton/Newton.h>
#include <algorithm>
#include <cmath>
#include <Nazara/Physics3D/Debug.hpp>
namespace Nz
@@ -31,6 +32,7 @@ namespace Nz
m_body = NewtonCreateDynamicBody(m_world->GetHandle(), m_geom->GetHandle(m_world), m_matrix);
NewtonBodySetUserData(m_body, this);
NewtonBodySetTransformCallback(m_body, &TransformCallback);
}
RigidBody3D::RigidBody3D(const RigidBody3D& object) :
@@ -47,6 +49,7 @@ namespace Nz
m_body = NewtonCreateDynamicBody(m_world->GetHandle(), m_geom->GetHandle(m_world), m_matrix);
NewtonBodySetUserData(m_body, this);
NewtonBodySetTransformCallback(m_body, &TransformCallback);
SetMass(object.m_mass);
SetAngularDamping(object.GetAngularDamping());
@@ -303,16 +306,27 @@ namespace Nz
void RigidBody3D::SetMass(float mass)
{
NazaraAssert(mass >= 0.f, "Mass must be positive and finite");
NazaraAssert(std::isfinite(mass), "Mass must be positive and finite");
if (m_mass > 0.f)
{
// If we already have a mass, we already have an inertial matrix as well, just rescale it
float Ix, Iy, Iz;
NewtonBodyGetMassMatrix(m_body, &m_mass, &Ix, &Iy, &Iz);
if (mass > 0.f)
{
// If we already have a mass, we already have an inertial matrix as well, just rescale it
float Ix, Iy, Iz;
NewtonBodyGetMassMatrix(m_body, &m_mass, &Ix, &Iy, &Iz);
float scale = mass/m_mass;
NewtonBodySetMassMatrix(m_body, mass, Ix*scale, Iy*scale, Iz*scale);
float scale = mass / m_mass;
NewtonBodySetMassMatrix(m_body, mass, Ix*scale, Iy*scale, Iz*scale);
}
else
{
NewtonBodySetMassMatrix(m_body, 0.f, 0.f, 0.f, 0.f);
NewtonBodySetForceAndTorqueCallback(m_body, nullptr);
}
}
else if (mass > 0.f)
else
{
Vector3f inertia, origin;
m_geom->ComputeInertialMatrix(&inertia, &origin);
@@ -320,7 +334,6 @@ namespace Nz
NewtonBodySetCentreOfMass(m_body, &origin.x);
NewtonBodySetMassMatrix(m_body, mass, inertia.x*mass, inertia.y*mass, inertia.z*mass);
NewtonBodySetForceAndTorqueCallback(m_body, &ForceAndTorqueCallback);
NewtonBodySetTransformCallback(m_body, &TransformCallback);
}
m_mass = mass;