Changeset 3319

Timestamp:

01/26/10 16:50:03 (7 months ago)

Author:

Azaezel

Message:

general force of contact and direction of contact (normal) methods. tangents require further research...

Files:

• plugins/branches/0185_GEN_PHYSICS_REFACTOR_2/ZBullet/src/PhysicsActor.hpp (modified) (1 diff)

plugins/branches/0185_GEN_PHYSICS_REFACTOR_2/ZBullet/src/PhysicsActor.hpp

@@ -229 +229 @@
         virtual Math::Real getContactSpeed() const
         {
-            return ZBulletMaterialGetContactNormalSpeed(m_pMaterial, m_pContact);
+            return m_pContact->getAppliedImpulse();
         }
 
         virtual void getContactForce(Math::Vector3& _forceVector) const
         {
-            ZBulletMaterialGetContactForce(m_pMaterial, _forceVector.m_array);
+            btVector3 tquat = m_pContact->m_normalWorldOnB;
+            tquat *= m_pContact->getAppliedImpulse();
+            _forceVector.m_x = tquat.x();
+            _forceVector.m_y = tquat.y();
+            _forceVector.m_z = tquat.z();
         }
 
         virtual void getContactPosition(Math::Point3& _contactPosition) const
         {
-            Math::Vector3 contactNormal;
-            ZBulletMaterialGetContactPositionAndNormal(m_pMaterial, _contactPosition.m_array, contactNormal.m_array);
+            btVector3 tquat = m_pContact->getPositionWorldOnB();
+            _contactPosition.m_x = tquat.x();
+            _contactPosition.m_y = tquat.y();
+            _contactPosition.m_z = tquat.z();
         }
 
         virtual void getContactNormal(Math::Vector3& _contactNormal) const
         {
-            Math::Point3 contactPosition;
-            ZBulletMaterialGetContactPositionAndNormal(m_pMaterial, contactPosition.m_array, _contactNormal.m_array);
+            btVector3 tquat = m_pContact->m_normalWorldOnB;
+            _contactNormal.m_x = tquat.x();
+            _contactNormal.m_y = tquat.y();
+            _contactNormal.m_z = tquat.z();
         }
 
         virtual void getContactPositionAndNormal(Math::Point3& _contactPosition, Math::Vector3& _contactNormal) const
         {
-            ZBulletMaterialGetContactPositionAndNormal(m_pMaterial, _contactPosition.m_array, _contactNormal.m_array);
+            getContactPosition(_contactPosition);
+            getContactNormal(_contactNormal);
         }