Modify the CollisionBody::setTransform() and Body::setIsSleeping() methods

src/body/Body.h

@@ -83,9 +83,6 @@ class Body {
         /// Private assignment operator
         Body& operator=(const Body& body);
 
-        /// Set the variable to know whether or not the body is sleeping
-        virtual void setIsSleeping(bool isSleeping);
-
     public :
 
         // -------------------- Methods -------------------- //
@@ -105,6 +102,9 @@ class Body {
         /// Set whether or not the body is allowed to go to sleep
         void setIsAllowedToSleep(bool isAllowedToSleep);
 
+        /// Set the variable to know whether or not the body is sleeping
+        virtual void setIsSleeping(bool isSleeping);
+
         /// Return whether or not the body is sleeping
         bool isSleeping() const;
 

src/body/CollisionBody.h

@@ -132,7 +132,7 @@ class CollisionBody : public Body {
         const Transform& getTransform() const;
 
         /// Set the current position and orientation
-        void setTransform(const Transform& transform);
+        virtual void setTransform(const Transform& transform);
 
         /// Add a collision shape to the body.
         virtual ProxyShape* addCollisionShape(const CollisionShape& collisionShape,

src/body/RigidBody.cpp

@@ -265,6 +265,64 @@ void RigidBody::removeCollisionShape(const ProxyShape* proxyShape) {
     recomputeMassInformation();
 }
 
+// Set the linear velocity of the rigid body.
+/**
+ * @param linearVelocity Linear velocity vector of the body
+ */
+void RigidBody::setLinearVelocity(const Vector3& linearVelocity) {
+
+    // If it is a static body, we do nothing
+    if (mType == STATIC) return;
+
+    // Update the linear velocity of the current body state
+    mLinearVelocity = linearVelocity;
+
+    // If the linear velocity is not zero, awake the body
+    if (mLinearVelocity.lengthSquare() > decimal(0.0)) {
+        setIsSleeping(false);
+    }
+}
+
+// Set the angular velocity.
+/**
+* @param angularVelocity The angular velocity vector of the body
+*/
+void RigidBody::setAngularVelocity(const Vector3& angularVelocity) {
+
+    // If it is a static body, we do nothing
+    if (mType == STATIC) return;
+
+    // Set the angular velocity
+    mAngularVelocity = angularVelocity;
+
+    // If the velocity is not zero, awake the body
+    if (mAngularVelocity.lengthSquare() > decimal(0.0)) {
+        setIsSleeping(false);
+    }
+}
+
+// Set the current position and orientation
+/**
+ * @param transform The transformation of the body that transforms the local-space
+ *                  of the body into world-space
+ */
+void RigidBody::setTransform(const Transform& transform) {
+
+    // Update the transform of the body
+    mTransform = transform;
+
+    const Vector3 oldCenterOfMass = mCenterOfMassWorld;
+
+    // Compute the new center of mass in world-space coordinates
+    mCenterOfMassWorld = mTransform * mCenterOfMassLocal;
+
+    // Update the linear velocity of the center of mass
+    mLinearVelocity += mAngularVelocity.cross(mCenterOfMassWorld - oldCenterOfMass);
+
+    // Update the broad-phase state of the body
+    updateBroadPhaseState();
+}
+
 // Recompute the center of mass, total mass and inertia tensor of the body using all
 // the collision shapes attached to the body.
 void RigidBody::recomputeMassInformation() {

src/body/RigidBody.h

@@ -118,9 +118,6 @@ class RigidBody : public CollisionBody {
         /// Update the broad-phase state for this body (because it has moved for instance)
         virtual void updateBroadPhaseState() const;
 
-        /// Set the variable to know whether or not the body is sleeping
-        virtual void setIsSleeping(bool isSleeping);
-
     public :
 
         // -------------------- Methods -------------------- //
@@ -134,6 +131,9 @@ class RigidBody : public CollisionBody {
         /// Set the type of the body (static, kinematic or dynamic)
         void setType(BodyType type);
 
+        /// Set the current position and orientation
+        virtual void setTransform(const Transform& transform);
+
         /// Return the mass of the body
         decimal getMass() const;
 
@@ -149,6 +149,9 @@ class RigidBody : public CollisionBody {
         /// Set the angular velocity.
         void setAngularVelocity(const Vector3& angularVelocity);
 
+        /// Set the variable to know whether or not the body is sleeping
+        virtual void setIsSleeping(bool isSleeping);
+
         /// Return the local inertia tensor of the body (in body coordinates)
         const Matrix3x3& getInertiaTensorLocal() const;
 
@@ -252,20 +255,6 @@ inline Vector3 RigidBody::getAngularVelocity() const {
     return mAngularVelocity;
 }
 
-// Set the angular velocity.
-/// You should only call this method for a kinematic body. Otherwise, it
-/// will do nothing.
-/**
-* @param angularVelocity The angular velocity vector of the body
-*/
-inline void RigidBody::setAngularVelocity(const Vector3& angularVelocity) {
-
-    // If it is a kinematic body
-    if (mType == KINEMATIC) {
-        mAngularVelocity = angularVelocity;
-    }
-}
-
 // Return the local inertia tensor of the body (in local-space coordinates)
 /**
  * @return The 3x3 inertia tensor matrix of the body (in local-space coordinates)
@@ -310,22 +299,6 @@ inline Matrix3x3 RigidBody::getInertiaTensorInverseWorld() const {
            mTransform.getOrientation().getMatrix().getTranspose();
 }
 
-// Set the linear velocity of the rigid body.
-/// You should only call this method for a kinematic body. Otherwise, it
-/// will do nothing.
-/**
- * @param linearVelocity Linear velocity vector of the body
- */
-inline void RigidBody::setLinearVelocity(const Vector3& linearVelocity) {
-
-    // If it is a kinematic body
-    if (mType == KINEMATIC) {
-
-        // Update the linear velocity of the current body state
-        mLinearVelocity = linearVelocity;
-    }
-}
-
 // Return true if the gravity needs to be applied to this rigid body
 /**
  * @return True if the gravity is applied to the body