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doing better with the coordinate system of local forces

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This commit is contained in:
Dave Schuyler 2006-02-18 02:13:34 +00:00
parent 7492d74426
commit f7a3d5803a
1 changed files with 5 additions and 4 deletions
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9
panda/src/physics/angularEulerIntegrator.cxx
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@ -112,6 +112,7 @@ child_integrate(Physical *physical,
accum_quat += f; accum_quat += f;
} }
LOrientationf orientation = current_object->get_orientation();
// local forces // local forces
f_cur = physical->get_angular_forces().begin(); f_cur = physical->get_angular_forces().begin();
for (; f_cur != physical->get_angular_forces().end(); ++f_cur) { for (; f_cur != physical->get_angular_forces().end(); ++f_cur) {
@ -130,7 +131,7 @@ child_integrate(Physical *physical,
f = cur_force->get_quat(current_object); f = cur_force->get_quat(current_object);
// tally it into the accumulation quaternion // tally it into the accumulation quaternion
accum_quat += f; accum_quat += orientation.xform(f); // i.e. orientation * f * orientation.conjugate();
} }
//assert(index == matrices.size()); //assert(index == matrices.size());
@ -155,7 +156,7 @@ child_integrate(Physical *physical,
} }
#else #else
//accum_quat*=viscosityDamper; //accum_quat*=viscosityDamper;
LOrientationf orientation = current_object->get_orientation(); //LOrientationf orientation = current_object->get_orientation();
//accum_quat.normalize(); //accum_quat.normalize();
// x = x + v * t + 0.5 * a * t * t // x = x + v * t + 0.5 * a * t * t
@ -164,11 +165,11 @@ child_integrate(Physical *physical,
rot_quat = rot_quat + (accum_quat * dt); rot_quat = rot_quat + (accum_quat * dt);
//if (rot_quat.normalize()) { //if (rot_quat.normalize()) {
//if (orientation.normalize() && rot_quat.normalize()) { if (orientation.normalize() && rot_quat.normalize()) {
// and write the results back. // and write the results back.
current_object->set_orientation(orientation); current_object->set_orientation(orientation);
current_object->set_rotation(rot_quat); current_object->set_rotation(rot_quat);
//} }
#endif #endif
} }
} }