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rework code that transforms global _server* values into parent-frame values

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This commit is contained in:
Seth Alves 2016-06-13 11:48:45 -07:00
parent 99bfc76dd3
commit 52245f25f2
1 changed files with 35 additions and 4 deletions
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39
libraries/physics/src/EntityMotionState.cpp
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@ -274,9 +274,39 @@ bool EntityMotionState::remoteSimulationOutOfSync(uint32_t simulationStep) {
// if we've never checked before, our _lastStep will be 0, and we need to initialize our state
if (_lastStep == 0) {
btTransform xform = _body->getWorldTransform();
_serverPosition = _entity->worldPositionToParent(bulletToGLM(xform.getOrigin()));
_serverRotation = _entity->worldRotationToParent(bulletToGLM(xform.getRotation()));
_serverVelocity = _entity->worldVelocityToParent(getBodyLinearVelocityGTSigma());
// _serverPosition = _entity->worldPositionToParent(bulletToGLM(xform.getOrigin()));
// _serverRotation = _entity->worldRotationToParent(bulletToGLM(xform.getRotation()));
// _serverVelocity = _entity->worldVelocityToParent(getBodyLinearVelocityGTSigma());
_serverPosition = bulletToGLM(xform.getOrigin());
_serverRotation = bulletToGLM(xform.getRotation());
_serverVelocity = getBodyLinearVelocityGTSigma();
bool success;
Transform parentTransform = _entity->getParentTransform(success);
if (success) {
Transform bodyTransform;
bodyTransform.setTranslation(_serverPosition);
bodyTransform.setRotation(_serverRotation);
Transform result;
Transform::inverseMult(result, parentTransform, bodyTransform);
_serverPosition = result.getTranslation();
_serverRotation = result.getRotation();
// transform velocity into parent-frame
parentTransform.setTranslation(glm::vec3(0.0f));
Transform velocityTransform;
velocityTransform.setTranslation(_serverVelocity);
Transform myWorldTransform;
Transform::mult(myWorldTransform, parentTransform, velocityTransform);
myWorldTransform.setTranslation(_serverVelocity);
Transform::inverseMult(result, parentTransform, myWorldTransform);
_serverVelocity = result.getTranslation();
}
_serverAcceleration = Vectors::ZERO;
_serverAngularVelocity = _entity->worldVelocityToParent(bulletToGLM(_body->getAngularVelocity()));
_lastStep = simulationStep;
@ -614,8 +644,9 @@ uint32_t EntityMotionState::getIncomingDirtyFlags() {
int bodyFlags = _body->getCollisionFlags();
bool isMoving = _entity->isMovingRelativeToParent();
// XXX what's right, here?
if (((bodyFlags & btCollisionObject::CF_STATIC_OBJECT) && isMoving) // ||
// TODO -- there is opportunity for an optimization here, but this currently causes
// excessive re-insertion of the rigid body.
// (bodyFlags & btCollisionObject::CF_KINEMATIC_OBJECT && !isMoving)
) {
dirtyFlags |= Simulation::DIRTY_MOTION_TYPE;