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Fixes to Bullet soft body transform handling.

This commit is contained in:
enn0x 2014-03-05 23:15:53 +00:00
parent 82eb82d026
commit 455a504cec
1 changed files with 29 additions and 17 deletions
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46
panda/src/bullet/bulletSoftBodyNode.cxx
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@ -194,22 +194,35 @@ transform_changed() {
LMatrix4 m_ts = ts->get_mat();
if (!m_sync.almost_equal(m_ts)) {
_sync = ts;
// New transform for the center
btTransform trans = TransformState_to_btTrans(ts);
trans *= _soft->m_initialWorldTransform.inverse();
// Offset between current approx center and current initial transform
btVector3 pos = LVecBase3_to_btVector3(this->get_aabb().get_approx_center());
btVector3 origin = _soft->m_initialWorldTransform.getOrigin();
btVector3 offset = pos - origin;
// Subtract offset to get new transform for the body
trans.setOrigin(trans.getOrigin() - offset);
// Now apply the new transform
_soft->transform(_soft->m_initialWorldTransform.inverse());
_soft->transform(trans);
if (ts->has_scale()) {
LVecBase3 scale = ts->get_scale();
if (!scale.almost_equal(LVecBase3(1.0f, 1.0f, 1.0f))) {
for (int i=0; i<get_num_shapes(); i++) {
PT(BulletShape) shape = _shapes[i];
shape->set_local_scale(scale);
}
}
btVector3 current_scale = LVecBase3_to_btVector3(_sync->get_scale());
btVector3 new_scale = LVecBase3_to_btVector3(ts->get_scale());
current_scale.setX(1.0 / current_scale.getX());
current_scale.setY(1.0 / current_scale.getY());
current_scale.setZ(1.0 / current_scale.getZ());
_soft->scale(current_scale);
_soft->scale(new_scale);
}
_sync = ts;
}
}
@ -221,7 +234,7 @@ transform_changed() {
void BulletSoftBodyNode::
sync_p2b() {
transform_changed();
//transform_changed(); Disabled for now...
}
////////////////////////////////////////////////////////////////////
@ -280,22 +293,21 @@ sync_b2p() {
}
}
// It is ok to pass the address of a temporary object here, because
// set_bounds does not store the pointer - it makes a copy using
// volume->make_copy().
BoundingBox bb = this->get_aabb();
LVecBase3 pos = bb.get_approx_center();
// Update the synchronized transform with the current
// approximate center of the soft body
LVecBase3 pos = this->get_aabb().get_approx_center();
CPT(TransformState) ts = TransformState::make_pos(pos);
NodePath np = NodePath::any_path((PandaNode *)this);
LVecBase3 scale = np.get_net_transform()->get_scale();
CPT(TransformState) ts = TransformState::make_pos(pos);
ts = ts->set_scale(scale);
_sync = ts;
_sync_disable = true;
np.set_transform(NodePath(), ts);
_sync_disable = false;
/*
*/
Thread *current_thread = Thread::get_current_thread();
this->r_mark_geom_bounds_stale(current_thread);