From ddd97cb78eb0f8dccd132c952239bd3211a7aba0 Mon Sep 17 00:00:00 2001
From: Robert Adams
Date: Mon, 6 May 2013 18:06:34 -0700
Subject: BulletSim: normalize quaternian rotations when building compound
linksets. Attempt to fix vehicles being twisted off the ground when they go
physical.
---
OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs | 14 +++++++-------
1 file changed, 7 insertions(+), 7 deletions(-)
(limited to 'OpenSim')
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs
index 1f16cc8..350a5d1 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs
@@ -347,21 +347,21 @@ public sealed class BSLinksetCompound : BSLinkset
// Bullet presumes an object's origin (relative <0,0,0>) is its center-of-mass
OMV.Vector3 centerOfMassW = ComputeLinksetCenterOfMass();
- OMV.Quaternion invRootOrientation = OMV.Quaternion.Inverse(LinksetRoot.RawOrientation);
+ OMV.Quaternion invRootOrientation = OMV.Quaternion.Normalize(OMV.Quaternion.Inverse(LinksetRoot.RawOrientation));
// 'centerDisplacement' is the value to subtract from children to give physical offset position
- OMV.Vector3 centerDisplacement = (centerOfMassW - LinksetRoot.RawPosition) * invRootOrientation;
+ OMV.Vector3 centerDisplacementV = (centerOfMassW - LinksetRoot.RawPosition) * invRootOrientation;
if (UseBulletSimRootOffsetHack || disableCOM)
{
- centerDisplacement = OMV.Vector3.Zero;
+ centerDisplacementV = OMV.Vector3.Zero;
LinksetRoot.ClearDisplacement();
}
else
{
- LinksetRoot.SetEffectiveCenterOfMassDisplacement(centerDisplacement);
+ LinksetRoot.SetEffectiveCenterOfMassDisplacement(centerDisplacementV);
}
DetailLog("{0},BSLinksetCompound.RecomputeLinksetCompound,COM,rootPos={1},com={2},comDisp={3}",
- LinksetRoot.LocalID, LinksetRoot.RawPosition, centerOfMassW, centerDisplacement);
+ LinksetRoot.LocalID, LinksetRoot.RawPosition, centerOfMassW, centerDisplacementV);
// Add the shapes of all the components of the linkset
int memberIndex = 1;
@@ -372,8 +372,8 @@ public sealed class BSLinksetCompound : BSLinkset
// Get a reference to the shape of the child and add that shape to the linkset compound shape
BSShape childShape = cPrim.PhysShape.GetReference(m_physicsScene, cPrim);
- OMV.Vector3 offsetPos = (cPrim.RawPosition - LinksetRoot.RawPosition) * invRootOrientation - centerDisplacement;
- OMV.Quaternion offsetRot = cPrim.RawOrientation * invRootOrientation;
+ OMV.Vector3 offsetPos = (cPrim.RawPosition - LinksetRoot.RawPosition) * invRootOrientation - centerDisplacementV;
+ OMV.Quaternion offsetRot = OMV.Quaternion.Normalize(cPrim.RawOrientation) * invRootOrientation;
m_physicsScene.PE.AddChildShapeToCompoundShape(linksetShape.physShapeInfo, childShape.physShapeInfo, offsetPos, offsetRot);
DetailLog("{0},BSLinksetCompound.RecomputeLinksetCompound,addChild,indx={1},cShape={2},offPos={3},offRot={4}",
LinksetRoot.LocalID, memberIndex, childShape, offsetPos, offsetRot);
--
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