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Various bug fixes

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This commit is contained in:
Jack Andersen
2017-11-29 15:22:46 -10:00
parent 7951cb1ee0
commit 7cd3e8f502
9 changed files with 125 additions and 81 deletions
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7
Runtime/World/CPhysicsActor.cpp
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@@ -100,7 +100,8 @@ void CPhysicsActor::AddMotionState(const CMotionState& mst)
{
zeus::CNUQuaternion q{x34_transform.buildMatrix3f()};
q += mst.xc_orientation;
SetTransform(zeus::CTransform(zeus::CQuaternion::fromNUQuaternion(q), x34_transform.origin));
zeus::CQuaternion quat = zeus::CQuaternion::fromNUQuaternion(q);
SetTransform(zeus::CTransform(quat, x34_transform.origin));
SetTranslation(x34_transform.origin + mst.x0_translation);
@@ -241,7 +242,7 @@ void CPhysicsActor::ComputeDerivedQuantities()
{
x138_velocity = xec_massRecip * xfc_constantForce;
x114_ = x34_transform.buildMatrix3f();
x144_angularVelocity = xf0_inertiaTensor * x108_angularMomentum;
x144_angularVelocity = xf4_inertiaTensorRecip * x108_angularMomentum;
}
bool CPhysicsActor::WillMove(const CStateManager&)
@@ -311,7 +312,7 @@ CMotionState CPhysicsActor::PredictLinearMotion(float dt) const
CMotionState CPhysicsActor::PredictAngularMotion(float dt) const
{
const zeus::CVector3f v1 = xf4_inertiaTensorRecip * (x180_angularImpulse + x198_moveAngularImpulse);
zeus::CNUQuaternion q = 0.5f * zeus::CNUQuaternion(0.f, x144_angularVelocity + v1);
zeus::CNUQuaternion q = 0.5f * zeus::CNUQuaternion(0.f, x144_angularVelocity.getVector() + v1);
CMotionState ret = {zeus::CVector3f::skZero, q * zeus::CNUQuaternion(x34_transform.buildMatrix3f()) * dt,
zeus::CVector3f::skZero, (x174_torque * dt) + x180_angularImpulse};
return ret;