added setRotation, lil cleanup

include/irrDynamics.h

@@ -110,6 +110,7 @@ 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);
     //! Change default gravity
     /** Per default, irrDynamics is set to an earth-like gravitational force. Modify that for other planets
       * or your space sim game.

src/irrDynamics.cpp

@@ -1,31 +1,35 @@
     /*
     irrDynamics - Light-weight Bullet Physics wrapper for the irrlicht graphics engine
-    Copyright (C) 2014  Otto Naderer - otto.naderer@aec.at
+    Copyright (C) 2014  Otto Naderer - otto@socialnerds.org
-
+
-    This software is provided 'as-is', without any express or implied
+    This software is provided 'as-is', without any express or implied
-    warranty.  In no event will the authors be held liable for any damages
+    warranty.  In no event will the authors be held liable for any damages
-    arising from the use of this software.
+    arising from the use of this software.
-
+
-    Permission is granted to anyone to use this software for any purpose,
+    Permission is granted to anyone to use this software for any purpose,
-    including commercial applications, and to alter it and redistribute it
+    including commercial applications, and to alter it and redistribute it
-    freely, subject to the following restrictions:
+    freely, subject to the following restrictions:
-
+
-    1. The origin of this software must not be misrepresented; you must not
+    1. The origin of this software must not be misrepresented; you must not
-     claim that you wrote the original software. If you use this software
+     claim that you wrote the original software. If you use this software
-     in a product, an acknowledgment in the product documentation would be
+     in a product, an acknowledgment in the product documentation would be
-     appreciated but is not required.
+     appreciated but is not required.
-    2. Altered source versions must be plainly marked as such, and must not be
+    2. Altered source versions must be plainly marked as such, and must not be
-     misrepresented as being the original software.
+     misrepresented as being the original software.
     3. This notice may not be removed or altered from any source distribution.
     */
 
-#include <btBulletCollisionCommon.h>
-#include <btBulletDynamicsCommon.h>
 #include "irrDynamics.h"
 
+#include <iostream>
+
+#include <btBulletCollisionCommon.h>
+#include <btBulletDynamicsCommon.h>
+
+using namespace std;
 using namespace irr;
 
-irrDynamics* irrDynamics::instance = NULL;
+irrDynamics* irrDynamics::instance = nullptr;
 
 irrDynamics::irrDynamics() : lastStep(0)
 {
@@ -52,7 +56,6 @@ void irrDynamics::simStep(u32 curTimeStamp)
     if (inst->lastStep == 0)
         inst->lastStep = curTimeStamp;
 
-   // printf("NUMCONST: %i\n", inst->world->getNumConstraints());
 
     inst->world->stepSimulation((curTimeStamp - inst->lastStep) * 0.001f, 5);
     inst->updateObjects();
@@ -68,7 +71,7 @@ void irrDynamics::shutdown()
     delete inst->dispatcher;
     delete inst->broadPhase;
     delete inst->collisionConfiguration;
-    instance = 0;
+    instance = nullptr;
 }
 
 void irrDynamics::addTerrain(scene::ITerrainSceneNode* terrain, u32 lodLevel)
@@ -93,7 +96,7 @@ void irrDynamics::addTerrain(scene::ITerrainSceneNode* terrain, u32 lodLevel)
     core::vector3df terrScale = terrain->getScale();
     //Build the triangleMesh
     const u32 indexCount = buffer->getIndexCount();
-    printf("indeces: %u\n", indexCount);
+    //fprintf("indeces: %u\n", indexCount);
     video::S3DVertex2TCoords* mb_vertices = (irr::video::S3DVertex2TCoords*) buffer->getVertexBuffer().getData();
     u32* mb_indices = (u32*) buffer->getIndices();
     for (j = 0; (u32) j < indexCount; j += 3)
@@ -111,7 +114,7 @@ void irrDynamics::addTerrain(scene::ITerrainSceneNode* terrain, u32 lodLevel)
     btBvhTriangleMeshShape* mShape = new btBvhTriangleMeshShape(mTriMesh, true);
     btRigidBody* rbody = new btRigidBody(0.f, MotionState, mShape);
     inst->world->addRigidBody(rbody);
-    inst->objects.insert(std::pair<scene::ISceneNode*, btRigidBody*>(terrain, rbody));
+    inst->objects[terrain] = rbody;
 
     terrain->grab();
 }
@@ -128,7 +131,7 @@ void irrDynamics::setGravity(f32 newGravity)
 
 void irrDynamics::updateObjects()
 {
-    for (std::map<scene::ISceneNode*, btRigidBody*>::iterator iter = objects.begin(); iter != objects.end(); iter++)
+    for (auto iter = objects.begin(); iter != objects.end(); iter++)
     {
         btVector3 Point = iter->second->getCenterOfMassPosition();
         iter->first->setPosition(core::vector3df((f32)Point[0], (f32)Point[1], (f32)Point[2]));
@@ -146,7 +149,7 @@ void irrDynamics::updateObjects()
 void irrDynamics::removeObject(scene::ISceneNode* node)
 {
     irrDynamics* inst = getInstance();
-    std::map<scene::ISceneNode*, btRigidBody*>::iterator iter = inst->objects.find(node);
+    auto iter = inst->objects.find(node);
     if (iter != inst->objects.end())
     {
         inst->removeConstraints(iter->second);
@@ -161,13 +164,13 @@ void irrDynamics::removeObject(scene::ISceneNode* node)
     }
     else
     {
-        printf("irrdynamics: object not found in map!\n");
+        cout << "irrdynamics: object not found in map!" << endl;
     }
 }
 
 void irrDynamics::clearObjects()
 {
-    for (std::map<scene::ISceneNode*, btRigidBody*>::iterator iter = objects.begin(); iter != objects.end(); iter++)
+    for (auto iter = objects.begin(); iter != objects.end(); iter++)
     {
         removeConstraints(iter->second);
         world->removeRigidBody(iter->second);
@@ -204,7 +207,7 @@ btRigidBody* irrDynamics::addSphericalObject(scene::ISceneNode* node, f32 radius
 
     // Add it to the world
     inst->world->addRigidBody(rigidBody);
-    inst->objects.insert(std::pair<scene::ISceneNode*, btRigidBody*>(node, rigidBody));
+    inst->objects[node] = rigidBody;
     node->grab();
     return rigidBody;
 }
@@ -246,7 +249,7 @@ btRigidBody* irrDynamics::addBoxObject(scene::ISceneNode* node, f32 mass)
 
     // Add it to the world
     inst->world->addRigidBody(rigidBody);
-    inst->objects.insert(std::pair<scene::ISceneNode*, btRigidBody*>(node, rigidBody));
+    inst->objects[node] = rigidBody;
     node->grab();
     return rigidBody;
 }
@@ -261,13 +264,13 @@ bool irrDynamics::createHingeConstraint(scene::ISceneNode* nodeA, scene::ISceneN
 
     if (iterA == inst->objects.end())
     {
-        printf("irrdynamics: Unable to find first node for constraint!\n");
+        cout << "irrdynamics: Unable to find first node for constraint!" << endl;
         return false;
     }
 
     if (iterB == inst->objects.end())
     {
-        printf("irrdynamics: Unable to find second node for constraint!\n");
+        cout << "irrdynamics: Unable to find second node for constraint!" << endl;
         return false;
     }
 
@@ -282,19 +285,18 @@ bool irrDynamics::createPoint2PointConstraint(scene::ISceneNode* nodeA, scene::I
 {
     irrDynamics* inst = getInstance();
     //find the corresponding rigid bodies:
-    std::map<scene::ISceneNode*, btRigidBody*>::iterator iterA, iterB;
+    auto iterA = inst->objects.find(nodeA);
-    iterA = inst->objects.find(nodeA);
+    auto iterB = inst->objects.find(nodeB);
-    iterB = inst->objects.find(nodeB);
 
     if (iterA == inst->objects.end())
     {
-        printf("irrdynamics: Unable to find first node for constraint!\n");
+        cout << "irrdynamics: Unable to find first node for constraint!" << endl;
         return false;
     }
 
     if (iterB == inst->objects.end())
     {
-        printf("irrdynamics: Unable to find second node for constraint!\n");
+        cout << "irrdynamics: Unable to find second node for constraint!" << endl;
         return false;
     }
 
@@ -314,19 +316,18 @@ bool irrDynamics::createSliderConstraint(scene::ISceneNode* nodeA,
 {
     irrDynamics* inst = getInstance();
     //find the corresponding rigid bodies:
-    std::map<scene::ISceneNode*, btRigidBody*>::iterator iterA, iterB;
+    auto iterA = inst->objects.find(nodeA);
-    iterA = inst->objects.find(nodeA);
+    auto iterB = inst->objects.find(nodeB);
-    iterB = inst->objects.find(nodeB);
 
     if (iterA == inst->objects.end())
     {
-        printf("irrdynamics: Unable to find first node for constraint!\n");
+        cout << "irrdynamics: Unable to find first node for constraint!" << endl;
         return false;
     }
 
     if (iterB == inst->objects.end())
     {
-        printf("irrdynamics: Unable to find second node for constraint!\n");
+        cout << "irrdynamics: Unable to find second node for constraint!" << endl;
         return false;
     }
 
@@ -359,11 +360,10 @@ void irrDynamics::applyCentralForce(scene::ISceneNode* node, const core::vector3
 {
     irrDynamics* inst = getInstance();
     //find the corresponding rigid body:
-    std::map<scene::ISceneNode*, btRigidBody*>::iterator iter;
+    auto iter = inst->objects.find(node);
-    iter = inst->objects.find(node);
     if (iter == inst->objects.end())
     {
-        printf("irrdynamics: Unable to find node in list. Force application aborted.\n");
+        cout << "irrdynamics: Unable to find node in list. Force application aborted." << endl;
         return;
     }
 
@@ -375,11 +375,10 @@ void irrDynamics::applyCentralImpulse(scene::ISceneNode* node, const core::vecto
 {
     irrDynamics* inst = getInstance();
     //find the corresponding rigid body:
-    std::map<scene::ISceneNode*, btRigidBody*>::iterator iter;
+    auto iter = inst->objects.find(node);
-    iter = inst->objects.find(node);
     if (iter == inst->objects.end())
     {
-        printf("irrdynamics: Unable to find node in list. Impulse application aborted.\n");
+        cout << "irrdynamics: Unable to find node in list. Impulse application aborted." << endl;
         return;
     }
 
@@ -391,11 +390,10 @@ void irrDynamics::applyTorque(scene::ISceneNode* node, const core::vector3df& to
 {
     irrDynamics* inst = getInstance();
     //find the corresponding rigid body:
-    std::map<scene::ISceneNode*, btRigidBody*>::iterator iter;
+    auto iter = inst->objects.find(node);
-    iter = inst->objects.find(node);
     if (iter == inst->objects.end())
     {
-        printf("irrdynamics: Unable to find node in list. Torque application aborted.\n");
+        cout << "irrdynamics: Unable to find node in list. Torque application aborted." << endl;
         return;
     }
 
@@ -432,11 +430,10 @@ void irrDynamics::setDamping(scene::ISceneNode* node, f32 linearDamping, f32 ang
 {
     irrDynamics* inst = getInstance();
     //find the corresponding rigid body:
-    std::map<scene::ISceneNode*, btRigidBody*>::iterator iter;
+    auto iter = inst->objects.find(node);
-    iter = inst->objects.find(node);
     if (iter == inst->objects.end())
     {
-        printf("irrdynamics: Unable to find node in list. Damping application aborted.\n");
+        cout << "irrdynamics: Unable to find node in list. Damping application aborted." << endl;
         return;
     }
 
@@ -447,23 +444,41 @@ void irrDynamics::setPosition(scene::ISceneNode* node, const core::vector3df& ne
 {
     irrDynamics* inst = getInstance();
     //find the corresponding rigid body:
-    std::map<scene::ISceneNode*, btRigidBody*>::iterator iter;
+    auto iter = inst->objects.find(node);
-    iter = inst->objects.find(node);
     if (iter == inst->objects.end())
     {
-        printf("irrdynamics: Unable to find node in list. Position update aborted.\n");
+        cout << "irrdynamics: Unable to find node in list. Position update aborted." << endl;
         return;
     }
 
-    btTransform transform = iter->second->getCenterOfMassTransform();
+    btTransform transform = iter->second->getWorldTransform();
     transform.setOrigin(btVector3(newPos.X, newPos.Y, newPos.Z));
+    iter->second->setWorldTransform(transform);
+}
+
+void irrDynamics::setRotation(scene::ISceneNode* node, const core::vector3df& newRotation)
+{
+    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. Rotation update aborted." << endl;
+        return;
+    }
+    btTransform transform; // = iter->second->getWorldTransform();
+    transform.setIdentity();
+    btQuaternion quat;
+    quat.setEuler(core::degToRad(newRotation.Y), core::degToRad(newRotation.X), core::degToRad(newRotation.Z));
+    transform.setRotation(quat);
+    transform.setOrigin(iter->second->getCenterOfMassPosition());
     iter->second->setCenterOfMassTransform(transform);
 }
 
 void irrDynamics::removeConstraints(btRigidBody* rigidBody)
 {
     const int len = rigidBody->getNumConstraintRefs();
-    printf("CONSTREF A: %i\n", rigidBody->getNumConstraintRefs());
+    //printf("CONSTREF A: %i\n", rigidBody->getNumConstraintRefs());
     //first, remove constraint reference at the other node
     for (int i = 0; i < len; i++)
     {
@@ -474,7 +489,7 @@ void irrDynamics::removeConstraints(btRigidBody* rigidBody)
 
         bodyB->removeConstraintRef(constraint);
     }
-    printf("CONSTREF B: %i\n", rigidBody->getNumConstraintRefs());
+    //printf("CONSTREF B: %i\n", rigidBody->getNumConstraintRefs());
     //then remove/delete at our side
     while (rigidBody->getNumConstraintRefs() > 0)
     {
@@ -482,6 +497,6 @@ void irrDynamics::removeConstraints(btRigidBody* rigidBody)
         rigidBody->removeConstraintRef(constraint);
         world->removeConstraint(constraint);
         delete constraint;
-        printf("DELETED\n");
+        //printf("DELETED\n");
     }
 }