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fix math, renamed a couple variables

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This commit is contained in:
Seth Alves 2016-08-30 09:55:42 -07:00
parent 01ee6e9e98
commit 7d13f9220c
1 changed files with 8 additions and 7 deletions
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15
libraries/physics/src/ObjectActionTravelOriented.cpp
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@ -58,17 +58,18 @@ void ObjectActionTravelOriented::updateActionWorker(btScalar deltaTimeStep) {
if (speed < TRAVEL_ORIENTED_TOO_SLOW) {
return;
}
velocity = glm::normalize(velocity);
glm::vec3 direction = glm::normalize(velocity);
// find current angle of "forward"
btQuaternion bodyRotation = rigidBody->getOrientation();
glm::quat orientation = bulletToGLM(bodyRotation);
glm::vec3 forwardInWorldFrame = glm::normalize(orientation * _forward);
// find the rotation that would line up velocity and forward
glm::quat neededRotation = ::rotationBetween(forwardInWorldFrame, velocity);
glm::quat rotationalTarget = orientation * neededRotation;
btVector3 targetVelocity(0.0f, 0.0f, 0.0f);
// find the rotation that would line up direction and forward
glm::quat neededRotation = glm::rotation(forwardInWorldFrame, direction);
glm::quat rotationalTarget = neededRotation * orientation;
btVector3 targetAngularVelocity(0.0f, 0.0f, 0.0f);
auto alignmentDot = bodyRotation.dot(glmToBullet(rotationalTarget));
const float ALMOST_ONE = 0.99999f;
@ -86,13 +87,13 @@ void ObjectActionTravelOriented::updateActionWorker(btScalar deltaTimeStep) {
// dQ = Q1 * Q0^
btQuaternion deltaQ = target * bodyRotation.inverse();
float speed = deltaQ.getAngle() / _angularTimeScale;
targetVelocity = speed * deltaQ.getAxis();
targetAngularVelocity = speed * deltaQ.getAxis();
if (speed > rigidBody->getAngularSleepingThreshold()) {
rigidBody->activate();
}
}
// this action is aggresively critically damped and defeats the current velocity
rigidBody->setAngularVelocity(targetVelocity);
rigidBody->setAngularVelocity(targetAngularVelocity);
});
}