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added getRotation

This commit is contained in:
Otto Naderer 2022-06-05 14:08:07 +02:00
parent 298f013819
commit 44650eed0c
2 changed files with 36 additions and 21 deletions
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3
include/irrDynamics.h
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@ -110,7 +110,8 @@ class irrDynamics
static void applyTorque(irr::scene::ISceneNode* node, const irr::core::vector3df& torque);
static void setDamping(irr::scene::ISceneNode* node, irr::f32 linearDamping, irr::f32 angularDamping);
static void setPosition(irr::scene::ISceneNode* node, const irr::core::vector3df& newPos);
static void setRotation(irr::scene::ISceneNode* node, const irr::core::vector3df& newRotation);
static void setRotation(irr::scene::ISceneNode* node, const irr::core::quaternion& newRotation);
static bool getRotation(irr::scene::ISceneNode* node, irr::core::quaternion&);
//! Change default gravity
/** Per default, irrDynamics is set to an earth-like gravitational force. Modify that for other planets
* or your space sim game.

22
src/irrDynamics.cpp
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@ -456,7 +456,7 @@ void irrDynamics::setPosition(scene::ISceneNode* node, const core::vector3df& ne
iter->second->setWorldTransform(transform);
}
void irrDynamics::setRotation(scene::ISceneNode* node, const core::vector3df& newRotation)
void irrDynamics::setRotation(scene::ISceneNode* node, const core::quaternion& r)
{
irrDynamics* inst = getInstance();
//find the corresponding rigid body:
@ -466,15 +466,29 @@ void irrDynamics::setRotation(scene::ISceneNode* node, const core::vector3df& ne
cout << "irrdynamics: Unable to find node in list. Rotation update aborted." << endl;
return;
}
btTransform transform; // = iter->second->getWorldTransform();
transform.setIdentity();
auto transform= iter->second->getWorldTransform();
btQuaternion quat;
quat.setEuler(core::degToRad(newRotation.Y), core::degToRad(newRotation.X), core::degToRad(newRotation.Z));
quat.setValue(r.X, r.Y, r.Z, r.W);
transform.setRotation(quat);
transform.setOrigin(iter->second->getCenterOfMassPosition());
iter->second->setCenterOfMassTransform(transform);
}
bool irrDynamics::getRotation(irr::scene::ISceneNode *node, core::quaternion& rotationOut)
{
irrDynamics* inst = getInstance();
//find the corresponding rigid body:
auto iter = inst->objects.find(node);
if (iter == inst->objects.end())
{
cout << "irrdynamics: Unable to find node in list. getrotation aborted." << endl;
return false;
}
auto rot = iter->second->getWorldTransform().getRotation();
rotationOut.set(rot.x(), rot.y(), rot.z(), rot.w());
return true;
}
void irrDynamics::removeConstraints(btRigidBody* rigidBody)
{
const int len = rigidBody->getNumConstraintRefs();