josh/OdeWorld
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setting mass on the body after loading all components;

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translating mass so the center of mass is at the origin for ODE;
when modeling make sure models have their COM at the origin or they may behave strangely!

git-svn-id: svn://anubis/misc/OdeWorld@169 bd8a9e45-a331-0410-811e-c64571078777
This commit is contained in:
josh 2009-10-12 13:56:47 +00:00
parent 2828194715
commit 8f95a9fed4
2 changed files with 10 additions and 7 deletions
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16
OdeWorld.cc
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@ -116,6 +116,7 @@ OdeWorld::Object::Object(bool is_static, dWorldID world, dSpaceID space)
m_world = world; m_world = world;
m_space = space; m_space = space;
m_body = 0; m_body = 0;
dMassSetZero(&m_mass);
} }
OdeWorld::Object::Object(const OdeWorld::Object & orig) OdeWorld::Object::Object(const OdeWorld::Object & orig)
@ -127,9 +128,8 @@ OdeWorld::Object::Object(const OdeWorld::Object & orig)
if (orig.m_body != 0) if (orig.m_body != 0)
{ {
m_body = dBodyCreate(m_world); m_body = dBodyCreate(m_world);
dMass mass; m_mass = orig.m_mass;
dBodyGetMass(orig.m_body, &mass); dBodySetMass(m_body, &m_mass);
dBodySetMass(m_body, &mass);
const dReal * pos = dBodyGetPosition(orig.m_body); const dReal * pos = dBodyGetPosition(orig.m_body);
dBodySetPosition(m_body, pos[0], pos[1], pos[2]); dBodySetPosition(m_body, pos[0], pos[1], pos[2]);
const dReal * rot = dBodyGetRotation(orig.m_body); const dReal * rot = dBodyGetRotation(orig.m_body);
@ -340,6 +340,11 @@ void OdeWorld::Object::loadPhy(const std::string & path)
} }
} }
} }
if (m_body != 0)
{
dMassTranslate(&m_mass, -m_mass.c[0], -m_mass.c[1], -m_mass.c[2]);
dBodySetMass(m_body, &m_mass);
}
} }
void OdeWorld::Object::addCube(const vector<float> args) void OdeWorld::Object::addCube(const vector<float> args)
@ -436,10 +441,7 @@ void OdeWorld::Object::setupGeom(dGeomID geom, dMass * mass,
dMassRotate(mass, rot); dMassRotate(mass, rot);
dMassTranslate(mass, locx, locy, locz); dMassTranslate(mass, locx, locy, locz);
dMass origmass; dMassAdd(&m_mass, mass);
dBodyGetMass(m_body, &origmass);
dMassAdd(&origmass, mass);
dBodySetMass(m_body, &origmass);
} }
} }

1
OdeWorld.h
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@ -35,6 +35,7 @@ class OdeWorld
protected: protected:
bool m_is_static; bool m_is_static;
dBodyID m_body; dBodyID m_body;
dMass m_mass;
dWorldID m_world; dWorldID m_world;
dSpaceID m_space; dSpaceID m_space;
std::vector<dGeomID> m_geoms; std::vector<dGeomID> m_geoms;