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Fixed local physics orientation

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This commit is contained in:
ViktorLjung
2014-06-04 00:45:43 +02:00
parent 0addc672b4
commit ac855f554b
4 changed files with 35 additions and 11 deletions
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src/Systems/PhysicsSystem.cpp
+26 -4
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@@ -180,6 +180,12 @@ void Systems::PhysicsSystem::Update(double dt)
rotation = GLMQUAT_TO_HKQUATERNION(transformComponent->Orientation);
velocity = GLMVEC3_TO_HKVECTOR4(transformComponent->Velocity);
}
/*auto absoluteTransform = m_World->GetSystem<Systems::TransformSystem>()->AbsoluteTransform(entity);
position = GLMVEC3_TO_HKVECTOR4(absoluteTransform.Position);
rotation = GLMQUAT_TO_HKQUATERNION(absoluteTransform.Orientation);
velocity = GLMVEC3_TO_HKVECTOR4(absoluteTransform.Velocity);*/
m_PhysicsWorld->markForWrite();
m_RigidBodies[entity]->setPositionAndRotation(position, rotation);
@@ -268,17 +274,33 @@ void Systems::PhysicsSystem::UpdateEntity(double dt, EntityID entity, EntityID p
else if(m_RigidBodies.find(entity) != m_RigidBodies.end())
{
auto transformComponentParent = m_World->GetComponent<Components::Transform>(parent);
/* if(transformComponentParent)
{
auto absoluteTransformParent = m_World->GetSystem<Systems::TransformSystem>()->AbsoluteTransform(parent);
transformComponent->Position = HKVECTOR4_TO_GLMVEC3(m_RigidBodies[entity]->getPosition());
transformComponent->Orientation = glm::inverse(HKQUATERNION_TO_GLMQUAT(m_RigidBodies[entity]->getRotation())) * absoluteTransformParent.Orientation;
transformComponent->Velocity = HKVECTOR4_TO_GLMVEC3(m_RigidBodies[entity]->getLinearVelocity());
}
else
{
auto transformComponentParent = m_World->GetComponent<Components::Transform>(parent);
transformComponent->Position = HKVECTOR4_TO_GLMVEC3(m_RigidBodies[entity]->getPosition());
transformComponent->Orientation = HKQUATERNION_TO_GLMQUAT(m_RigidBodies[entity]->getRotation());
transformComponent->Velocity = HKVECTOR4_TO_GLMVEC3(m_RigidBodies[entity]->getLinearVelocity());
}*/
transformComponent->Position = HKVECTOR4_TO_GLMVEC3(m_RigidBodies[entity]->getPosition());
transformComponent->Orientation = HKQUATERNION_TO_GLMQUAT(m_RigidBodies[entity]->getRotation());
transformComponent->Velocity = HKVECTOR4_TO_GLMVEC3(m_RigidBodies[entity]->getLinearVelocity());
// TODO: No support for Scale, MIGHT be possible
// HACK: WTF IS THIS?
if (transformComponentParent)
{
transformComponent->Position -= transformComponentParent->Position;
transformComponent->Position = transformComponent->Position * transformComponentParent->Orientation;
transformComponent->Orientation = transformComponent->Orientation * glm::inverse(transformComponentParent->Orientation);
auto absoluteTransformParent = m_World->GetSystem<Systems::TransformSystem>()->AbsoluteTransform(parent);
transformComponent->Position -= absoluteTransformParent.Position;
transformComponent->Position = transformComponent->Position * absoluteTransformParent.Orientation;
transformComponent->Orientation = absoluteTransformParent.Orientation * glm::inverse(transformComponent->Orientation);
}
}