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Wheels now turning and spinning properly.

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This commit is contained in:
ViktorLjung
2014-04-24 00:11:49 +02:00
parent e95d78aba6
commit afbe58e4f3
3 changed files with 56 additions and 36 deletions
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src/Systems/PhysicsSystem.cpp
+25 -17
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@@ -76,10 +76,13 @@ void Systems::PhysicsSystem::Update(double dt)
continue;
hkVector4 position(transformComponent->Position.x, transformComponent->Position.y, transformComponent->Position.z);
hkQuaternion rotation(transformComponent->Orientation.x, transformComponent->Orientation.y, transformComponent->Orientation.z, transformComponent->Orientation.w);
m_RigidBodies[entity]->setPositionAndRotation(position, rotation);
if(m_RigidBodies[entity]->isActive())
{
hkVector4 position(transformComponent->Position.x, transformComponent->Position.y, transformComponent->Position.z);
hkQuaternion rotation(transformComponent->Orientation.x, transformComponent->Orientation.y, transformComponent->Orientation.z, transformComponent->Orientation.w);
m_RigidBodies[entity]->setPositionAndRotation(position, rotation);
}
}
@@ -109,26 +112,31 @@ void Systems::PhysicsSystem::UpdateEntity(double dt, EntityID entity, EntityID p
EntityID car = m_World->GetEntityParent(entity);
if(m_Vehicles.find(car) != m_Vehicles.end())
{
hkVector4 position;
hkQuaternion orientation;
m_Vehicles[car]->calcCurrentPositionAndRotation(m_RigidBodies[car], m_Vehicles[car]->m_suspension, wheelComponent->ID, position, orientation);
hkVector4 chassisPosition = m_RigidBodies[car]->getPosition();
hkQuaternion chassisOrientation = m_RigidBodies[car]->getRotation();
glm::vec3 relativePos = glm::vec3(chassisPosition(0), chassisPosition(1), chassisPosition(2)) - glm::vec3(position(0), position(1), position(2));
glm::quat relativeOrientation = glm::quat(orientation(3), orientation(0), orientation(1), orientation(2));
m_Vehicles[car]->getChassis()->activate();
transformComponent->Position = relativePos;
//transformComponent->Orientation = relativeOrientation;
hkVector4 hardPoint = m_Vehicles[car]->m_suspension->m_wheelParams[wheelComponent->ID].m_hardpointChassisSpace;
hkVector4 suspensionDirection = m_Vehicles[car]->m_suspension->m_wheelParams[wheelComponent->ID].m_directionChassisSpace;
hkReal suspensionLength = m_Vehicles[car]->m_wheelsInfo[wheelComponent->ID].m_currentSuspensionLength;
glm::vec3 position = glm::vec3(hardPoint(0) + (suspensionDirection(0) * suspensionLength), hardPoint(1) + (suspensionDirection(1) * suspensionLength), hardPoint(2) + (suspensionDirection(2) * suspensionLength));
transformComponent->Position = position;
hkQuaternion steeringOrientation = m_Vehicles[car]->m_wheelsInfo[wheelComponent->ID].m_steeringOrientationChassisSpace;
hkReal spinAngle = -m_Vehicles[car]->m_wheelsInfo[wheelComponent->ID].m_spinAngle;
glm::quat orientation = glm::quat(steeringOrientation(3), steeringOrientation(0), steeringOrientation(1), steeringOrientation(2)) * glm::angleAxis<float>(spinAngle, glm::vec3(1, 0, 0));
transformComponent->Orientation = orientation;
}
}
else
{
if(m_Vehicles.find(entity) != m_Vehicles.end())
{
hkVector4 position = m_RigidBodies[entity]->getPosition();
transformComponent->Position = glm::vec3(position(0), position(1), position(2));
hkQuaternion orientation = m_RigidBodies[entity]->getRotation();
transformComponent->Orientation = glm::quat(orientation(3),orientation(0), orientation(1), orientation(2));
if(m_RigidBodies[entity]->isActive())
{
hkVector4 position = m_RigidBodies[entity]->getPosition();
transformComponent->Position = glm::vec3(position(0), position(1), position(2));
hkQuaternion orientation = m_RigidBodies[entity]->getRotation();
transformComponent->Orientation = glm::quat(orientation(3),orientation(0), orientation(1), orientation(2));
}
}
}