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changed rotational integrator

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This commit is contained in:
Dave Schuyler 2006-02-08 22:50:57 +00:00
parent ad2bab372c
commit 40d1781c1f
1 changed files with 30 additions and 10 deletions
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40
panda/src/physics/angularEulerIntegrator.cxx
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@ -85,7 +85,7 @@ child_integrate(Physical *physical,
LRotationf accum_quat(0, 0, 0, 0); LRotationf accum_quat(0, 0, 0, 0);
// set up the traversal stuff. // set up the traversal stuff.
ForceNode *force_node; //////////////////////ForceNode *force_node;
AngularForceVector::const_iterator f_cur; AngularForceVector::const_iterator f_cur;
LRotationf f; LRotationf f;
@ -101,13 +101,14 @@ child_integrate(Physical *physical,
continue; continue;
} }
force_node = cur_force->get_force_node(); /////////////////force_node = cur_force->get_force_node();
// now we go from force space to our object's space. // now we go from force space to our object's space.
assert(index >= 0 && index < matrices.size()); assert(index >= 0 && index < matrices.size());
f = matrices[index++] * cur_force->get_quat(current_object); //f = matrices[index++] * cur_force->get_quat(current_object);
f = cur_force->get_quat(current_object);
// tally it into the accum vector, applying the inertial tensor. // tally it into the accumulation quaternion
accum_quat += f; accum_quat += f;
} }
@ -121,16 +122,17 @@ child_integrate(Physical *physical,
continue; continue;
} }
force_node = cur_force->get_force_node(); ///////////////force_node = cur_force->get_force_node();
// go from force space to object space // go from force space to object space
assert(index >= 0 && index < matrices.size()); //assert(index >= 0 && index < matrices.size());
f = matrices[index++] * cur_force->get_quat(current_object); //f = matrices[index++] * cur_force->get_quat(current_object);
f = cur_force->get_quat(current_object);
// tally it into the accum vectors // tally it into the accumulation quaternion
accum_quat += f; accum_quat += f;
} }
assert(index == matrices.size()); //assert(index == matrices.size());
// apply the accumulated torque vector to the object's inertial tensor. // apply the accumulated torque vector to the object's inertial tensor.
// this matrix represents how much force the object 'wants' applied to it // this matrix represents how much force the object 'wants' applied to it
@ -139,7 +141,8 @@ child_integrate(Physical *physical,
// derive this into the angular velocity vector. // derive this into the angular velocity vector.
LRotationf rot_quat = current_object->get_rotation(); LRotationf rot_quat = current_object->get_rotation();
rot_quat += (LVecBase4f(accum_quat) * dt); #if 0
rot_quat += accum_quat * dt;
if (rot_quat.normalize()) { if (rot_quat.normalize()) {
LOrientationf old_orientation = current_object->get_orientation(); LOrientationf old_orientation = current_object->get_orientation();
@ -150,6 +153,23 @@ child_integrate(Physical *physical,
current_object->set_orientation(new_orientation); current_object->set_orientation(new_orientation);
current_object->set_rotation(rot_quat); current_object->set_rotation(rot_quat);
} }
#else
//accum_quat*=viscosityDamper;
LOrientationf orientation = current_object->get_orientation();
//accum_quat.normalize();
// x = x + v * t + 0.5 * a * t * t
orientation = orientation * ((rot_quat * dt) * (accum_quat * (0.5 * dt * dt)));
// v = v + a * t
rot_quat = rot_quat + (accum_quat * dt);
//if (rot_quat.normalize()) {
//if (orientation.normalize() && rot_quat.normalize()) {
// and write the results back.
current_object->set_orientation(orientation);
current_object->set_rotation(rot_quat);
//}
#endif
} }
} }