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BulletSim: normalize quaternian rotations when building compound linksets. 

Attempt to fix vehicles being twisted off the ground when they go physical.
user_profiles
Robert Adams 2013-05-06 18:06:34 -07:00
parent 84118c5735
commit ddd97cb78e
1 changed files with 7 additions and 7 deletions
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14
OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs
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@ -347,21 +347,21 @@ public sealed class BSLinksetCompound : BSLinkset
// Bullet presumes an object's origin (relative <0,0,0>) is its center-of-mass // Bullet presumes an object's origin (relative <0,0,0>) is its center-of-mass
OMV.Vector3 centerOfMassW = ComputeLinksetCenterOfMass(); 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 // '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) if (UseBulletSimRootOffsetHack || disableCOM)
{ {
centerDisplacement = OMV.Vector3.Zero; centerDisplacementV = OMV.Vector3.Zero;
LinksetRoot.ClearDisplacement(); LinksetRoot.ClearDisplacement();
} }
else else
{ {
LinksetRoot.SetEffectiveCenterOfMassDisplacement(centerDisplacement); LinksetRoot.SetEffectiveCenterOfMassDisplacement(centerDisplacementV);
} }
DetailLog("{0},BSLinksetCompound.RecomputeLinksetCompound,COM,rootPos={1},com={2},comDisp={3}", 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 // Add the shapes of all the components of the linkset
int memberIndex = 1; 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 // 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); BSShape childShape = cPrim.PhysShape.GetReference(m_physicsScene, cPrim);
OMV.Vector3 offsetPos = (cPrim.RawPosition - LinksetRoot.RawPosition) * invRootOrientation - centerDisplacement; OMV.Vector3 offsetPos = (cPrim.RawPosition - LinksetRoot.RawPosition) * invRootOrientation - centerDisplacementV;
OMV.Quaternion offsetRot = cPrim.RawOrientation * invRootOrientation; OMV.Quaternion offsetRot = OMV.Quaternion.Normalize(cPrim.RawOrientation) * invRootOrientation;
m_physicsScene.PE.AddChildShapeToCompoundShape(linksetShape.physShapeInfo, childShape.physShapeInfo, offsetPos, offsetRot); m_physicsScene.PE.AddChildShapeToCompoundShape(linksetShape.physShapeInfo, childShape.physShapeInfo, offsetPos, offsetRot);
DetailLog("{0},BSLinksetCompound.RecomputeLinksetCompound,addChild,indx={1},cShape={2},offPos={3},offRot={4}", DetailLog("{0},BSLinksetCompound.RecomputeLinksetCompound,addChild,indx={1},cShape={2},offPos={3},offRot={4}",
LinksetRoot.LocalID, memberIndex, childShape, offsetPos, offsetRot); LinksetRoot.LocalID, memberIndex, childShape, offsetPos, offsetRot);