Setrotate working

apps/openmw/mwworld/physicssystem.cpp

@@ -257,10 +257,7 @@ namespace MWWorld
         const Ogre::Vector3& position, float scale, const Ogre::Quaternion& rotation)
     {
         //TODO:optimize this. Searching the std::map isn't very efficient i think.
-        std::cout << "NPC position" << position << "\n";
         mEngine->addCharacter(handle, mesh, position, scale, rotation);
-        
-        
     }
 
     void PhysicsSystem::removeObject (const std::string& handle)
@@ -309,7 +306,7 @@ namespace MWWorld
         if (OEngine::Physic::PhysicActor* act = mEngine->getCharacter(handle))
         {
             //Needs to be changed
-            act->setRotation(btQuaternion(rotation.x, rotation.y, rotation.z, rotation.w));
+            act->setRotation(rotation);
         }
         if (OEngine::Physic::RigidBody* body = mEngine->getRigidBody(handle))
         {

libs/openengine/bullet/physic.cpp

@@ -29,7 +29,9 @@ namespace Physic
     PhysicActor::PhysicActor(std::string name, std::string mesh, PhysicEngine* engine, Ogre::Vector3 position, Ogre::Quaternion rotation, float scale): 
         mName(name), mEngine(engine), mMesh(mesh), mBoxScaledTranslation(0,0,0), mBoxRotationInverse(0,0,0,0), mBody(0), collisionMode(false), mBoxRotation(0,0,0,0)
     {
-        mBody = mEngine->createAndAdjustRigidBody(mMesh, mName, scale, position, rotation, &mBoxScaledTranslation, &mBoxRotation, &mBoxRotationInverse);
+        mBody = mEngine->createAndAdjustRigidBody(mMesh, mName, scale, position, rotation, &mBoxScaledTranslation, &mBoxRotation);
+        Ogre::Quaternion inverse = mBoxRotation.Inverse();
+        mBoxRotationInverse = btQuaternion(inverse.x, inverse.y, inverse.z,inverse.w);
         mEngine->addRigidBody(mBody, false);  //Add rigid body to dynamics world, but do not add to object map
     }
 
@@ -68,10 +70,11 @@ namespace Physic
 
     
 
-    void PhysicActor::setRotation(const btQuaternion& quat)
+    void PhysicActor::setRotation(const Ogre::Quaternion quat)
     {
-        //externalGhostObject->getWorldTransform().setRotation( quat );
+        if(!quat.equals(getRotation(), Ogre::Radian(0))){
-        //internalGhostObject->getWorldTransform().setRotation( quat );
+            mEngine->adjustRigidBody(mBody, getPosition(), quat, mBoxScaledTranslation, mBoxRotation);
+        }
     }
 
     Ogre::Vector3 PhysicActor::getPosition(void)
@@ -97,7 +100,6 @@ namespace Physic
     }
 
     void PhysicActor::setScale(float scale){
-        std::cout << "Trying to set scale to " << scale << "\n";
         Ogre::Vector3 position = getPosition();
         Ogre::Quaternion rotation = getRotation();
         //We only need to change the scaled box translation, box rotations remain the same.
@@ -334,7 +336,7 @@ namespace Physic
     }
 
     RigidBody* PhysicEngine::createAndAdjustRigidBody(std::string mesh,std::string name,float scale, Ogre::Vector3 position, Ogre::Quaternion rotation,
-        Ogre::Vector3* scaledBoxTranslation, btQuaternion* boxRotation, btQuaternion* boxRotationInverse)
+        Ogre::Vector3* scaledBoxTranslation, Ogre::Quaternion* boxRotation)
     {
         std::string sid = (boost::format("%07.3f") % scale).str();
         std::string outputstring = mesh + sid;
@@ -357,11 +359,7 @@ namespace Physic
         if(scaledBoxTranslation != 0)
             *scaledBoxTranslation = shape->boxTranslation * scale;
         if(boxRotation != 0)
-            *boxRotation = btQuaternion(shape->boxRotation.x, shape->boxRotation.y, shape->boxRotation.z,shape->boxRotation.w);
+            *boxRotation = shape->boxRotation;
-        if(boxRotationInverse != 0){
-            Ogre::Quaternion inverse = shape->boxRotation.Inverse();
-            *boxRotationInverse = btQuaternion(inverse.x,inverse.y,inverse.z,inverse.w);
-        }
 
         adjustRigidBody(body, position, rotation, shape->boxTranslation * scale, shape->boxRotation);
 

libs/openengine/bullet/physic.hpp

@@ -67,7 +67,12 @@ namespace Physic
          */
         void setWalkDirection(const btVector3& mvt);
 
-        void setRotation(const btQuaternion& quat);
+        /**
+         * This adjusts the rotation of a PhysicActor
+         * If we have any problems with this (getting stuck in pmove) we should change it 
+         * from setting the visual orientation to setting the orientation of the rigid body directly.
+         */
+        void setRotation(const Ogre::Quaternion quat);
 
         void setGravity(float gravity);
 
@@ -92,7 +97,7 @@ namespace Physic
         OEngine::Physic::RigidBody* mBody;
         Ogre::Vector3 mBoxScaledTranslation;
         btQuaternion mBoxRotationInverse;
-        btQuaternion mBoxRotation;
+        Ogre::Quaternion mBoxRotation;
         bool collisionMode;
         std::string mMesh;
         PhysicEngine* mEngine;
@@ -144,7 +149,7 @@ namespace Physic
          * After created, the body is set to the correct rotation, position, and scale
          */
         RigidBody* createAndAdjustRigidBody(std::string mesh,std::string name,float scale, Ogre::Vector3 position, Ogre::Quaternion rotation, 
-            Ogre::Vector3* scaledBoxTranslation = 0, btQuaternion* boxRotation = 0, btQuaternion* boxRotationInverse = 0);
+            Ogre::Vector3* scaledBoxTranslation = 0, Ogre::Quaternion* boxRotation = 0);
 
         /**
          * Adjusts a rigid body to the right position and rotation