PhysBody3D.cpp

#include "PhysBody3D.h"
#include "glmath.h"
#include "Bullet/include/btBulletDynamicsCommon.h"

// =================================================
PhysBody3D::PhysBody3D(btRigidBody* body) : body(body)
{}

// ---------------------------------------------------------
PhysBody3D::~PhysBody3D()
{
	delete body;
}

// ---------------------------------------------------------
void PhysBody3D::Push(float x, float y, float z)
{
	body->applyCentralImpulse(btVector3(x, y, z));
}

// ---------------------------------------------------------
void PhysBody3D::GetTransform(float* matrix) const
{
	if(body != NULL && matrix != NULL)
	{
		body->getWorldTransform().getOpenGLMatrix(matrix);
	}
}

// ---------------------------------------------------------
void PhysBody3D::SetTransform(const float* matrix) const
{
	if(body != NULL && matrix != NULL)
	{
		btTransform t;
		t.setFromOpenGLMatrix(matrix);
		body->setWorldTransform(t);
	}
}

// ---------------------------------------------------------
void PhysBody3D::SetPos(float x, float y, float z)
{
	btTransform t = body->getWorldTransform();
	t.setOrigin(btVector3(x, y, z));
	body->setWorldTransform(t);
}

// ---------------------------------------------------------
void PhysBody3D::SetAsSensor(bool pIsSensor)
{
	if (this->isSensor != pIsSensor)
	{
		this->isSensor = pIsSensor;
		if (pIsSensor == true)
			body->setCollisionFlags(body->getCollisionFlags() | btCollisionObject::CF_NO_CONTACT_RESPONSE);
		else
			body->setCollisionFlags(body->getCollisionFlags() & ~btCollisionObject::CF_NO_CONTACT_RESPONSE);
	}
}

//vec3 PhysBody3D::GetPos()
//{
//	btVector3 getP = body->getWorldTransform().getOrigin();
//
//	vec3 pos;
//	pos.x = getP.x();
//	pos.y = getP.y();
//	pos.z = getP.z();
//
//	return pos;
//}