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fixed non-rotating objects

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This commit is contained in:
Dave Schuyler 2004-09-01 03:55:10 +00:00
parent cad885b343
commit 53854756f7
1 changed files with 21 additions and 11 deletions
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32
panda/src/physics/angularEulerIntegrator.cxx
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@ -57,6 +57,7 @@ child_integrate(Physical *physical,
// otherwise your transforms will be VERY bad. No good.
precompute_angular_matrices(physical, forces);
const pvector< LMatrix4f > &matrices = get_precomputed_angular_matrices();
assert(matrices.size() == (forces.size() + physical->get_angular_forces().size()));
// Loop through each object in the set. This processing occurs in O(pf) time,
// where p is the number of physical objects and f is the number of
@ -91,7 +92,7 @@ child_integrate(Physical *physical,
// global forces
f_cur = forces.begin();
int index = 0;
unsigned int index = 0;
for (; f_cur != forces.end(); ++f_cur) {
AngularForce *cur_force = *f_cur;
@ -103,6 +104,7 @@ child_integrate(Physical *physical,
force_node = cur_force->get_force_node();
// now we go from force space to our object's space.
assert(index >= 0 && index < matrices.size());
f = cur_force->get_vector(current_object) * matrices[index++];
// tally it into the accum vector, applying the inertial tensor.
@ -122,11 +124,13 @@ child_integrate(Physical *physical,
force_node = cur_force->get_force_node();
// go from force space to object space
assert(index >= 0 && index < matrices.size());
f = cur_force->get_vector(current_object) * matrices[index++];
// tally it into the accum vectors
accum_vec += f;
}
assert(index == matrices.size());
// apply the accumulated torque vector to the object's inertial tensor.
// this matrix represents how much force the object 'wants' applied to it
@ -142,19 +146,25 @@ child_integrate(Physical *physical,
// imaginary quaternions where r = 0. This vector NOW represents the
// imaginary vector formed by (i, j, k).
LVector3f normalized_rot_vec = rot_vec;
float len = rot_vec.length();
normalized_rot_vec *= 1.0f / len;
LRotationf rot_quat = LRotationf(normalized_rot_vec, len);
if (len) {
LVector3f normalized_rot_vec = rot_vec;
normalized_rot_vec *= 1.0f / len;
LRotationf rot_quat = LRotationf(normalized_rot_vec, len);
assert(!(rot_quat[0]==0.0f && rot_quat[1]==0.0f && rot_quat[2]==0.0f && rot_quat[3]==0.0f));
LOrientationf old_orientation = current_object->get_orientation();
LOrientationf new_orientation = old_orientation * rot_quat;
new_orientation.normalize();
LOrientationf old_orientation = current_object->get_orientation();
assert(!(old_orientation[0]==0.0f && old_orientation[1]==0.0f && old_orientation[2]==0.0f && old_orientation[3]==0.0f));
LOrientationf new_orientation = old_orientation * rot_quat;
assert(!(new_orientation[0]==0.0f && new_orientation[1]==0.0f && new_orientation[2]==0.0f && new_orientation[3]==0.0f));
new_orientation.normalize();
assert(!(new_orientation[0]==0.0f && new_orientation[1]==0.0f && new_orientation[2]==0.0f && new_orientation[3]==0.0f));
// and write the results back.
current_object->set_orientation(new_orientation);
current_object->set_rotation(rot_vec);
// and write the results back.
current_object->set_orientation(new_orientation);
current_object->set_rotation(rot_vec);
}
}
}
@ -167,7 +177,7 @@ child_integrate(Physical *physical,
void AngularEulerIntegrator::
output(ostream &out) const {
#ifndef NDEBUG //[
out<<"AngularEulerIntegrator";
out<<"AngularEulerIntegrator (id "<<this<<")";
#endif //] NDEBUG
}