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Fix for conversion from TransformState (with scale) to btTransform.

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This commit is contained in:
enn0x 2011-08-07 22:09:42 +00:00
parent 9bb87232a1
commit c23a719b26
2 changed files with 34 additions and 4 deletions
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36
panda/src/bullet/bullet_utils.cxx
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@ -133,6 +133,28 @@ CPT(TransformState) btTrans_to_TransformState(const btTransform &trans, const LV
return TransformState::make_pos_quat_scale(pos, quat, scale);
}
////////////////////////////////////////////////////////////////////
// Function: TransformState_to_btTrans
// Description:
////////////////////////////////////////////////////////////////////
btTransform TransformState_to_btTrans(CPT(TransformState) ts) {
ts = ts->set_scale(1.0);
LMatrix4f m = ts->get_mat();
LQuaternionf quat;
quat.set_from_matrix(m.get_upper_3());
btQuaternion btq = LQuaternionf_to_btQuat(quat);
btVector3 btv = LVecBase3f_to_btVector3(m.get_row3(3));
btTransform trans;
trans.setRotation(btq);
trans.setOrigin(btv);
return trans;
}
////////////////////////////////////////////////////////////////////
// Function: get_default_up_axis
// Description:
@ -160,16 +182,22 @@ BulletUpAxis get_default_up_axis() {
////////////////////////////////////////////////////////////////////
void get_node_transform(btTransform &trans, PandaNode *node) {
LMatrix4f m;
// Get TS
CPT(TransformState) ts;
if (node->get_num_parents() == 0) {
m = node->get_transform()->get_mat();
ts = node->get_transform();
}
else {
NodePath np = NodePath::any_path(node);
m = np.get_net_transform()->get_mat();
ts = np.get_net_transform();
}
// Remove scale from TS, since scale fudges the orientation
ts = ts->set_scale(1.0);
// Convert
LMatrix4f m = ts->get_mat();
LQuaternionf quat;
quat.set_from_matrix(m.get_upper_3());

2
panda/src/bullet/bullet_utils.h
View File

@ -44,6 +44,8 @@ EXPCL_PANDABULLET CPT(TransformState) btTrans_to_TransformState(
const btTransform &tf,
const LVecBase3f &scale=LVecBase3f(1.0f, 1.0f, 1.0f));
EXPCL_PANDABULLET btTransform TransformState_to_btTrans(CPT(TransformState) ts);
// UpAxis
BEGIN_PUBLISH