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Setrotate working

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This commit is contained in:
Jason Hooks 2012-09-15 13:23:49 -04:00
parent a1a7733730
commit 02bca98e9f
3 changed files with 18 additions and 18 deletions
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5
apps/openmw/mwworld/physicssystem.cpp
View file

@ -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))
{

20
libs/openengine/bullet/physic.cpp
View file

@ -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 );
//internalGhostObject->getWorldTransform().setRotation( quat );
if(!quat.equals(getRotation(), Ogre::Radian(0))){
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);
if(boxRotationInverse != 0){
Ogre::Quaternion inverse = shape->boxRotation.Inverse();
*boxRotationInverse = btQuaternion(inverse.x,inverse.y,inverse.z,inverse.w);
}
*boxRotation = shape->boxRotation;
adjustRigidBody(body, position, rotation, shape->boxTranslation * scale, shape->boxRotation);

11
libs/openengine/bullet/physic.hpp
View file

@ -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