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fix bad transform math for placing shapes

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Andrew Meadows 2014-03-05 11:57:07 -08:00
parent 89f664c0ee
commit a1856ac18b
1 changed files with 8 additions and 11 deletions
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19
interface/src/renderer/Model.cpp
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@ -140,13 +140,11 @@ void Model::updateShapePositions() {
const FBXGeometry& geometry = _geometry->getFBXGeometry();
for (int i = 0; i < _jointStates.size(); i++) {
const FBXJoint& joint = geometry.joints[i];
// shape position and rotation are stored in world-frame
glm::vec3 localPosition = uniformScale * (_jointStates[i].combinedRotation * joint.shapePosition);
glm::vec3 worldPosition = _rotation * (extractTranslation(_jointStates[i].transform) + localPosition) + _translation;
// shape position and rotation need to be in world-frame
glm::vec3 jointToShapeOffset = uniformScale * (_jointStates[i].combinedRotation * joint.shapePosition);
glm::vec3 worldPosition = extractTranslation(_jointStates[i].transform) + jointToShapeOffset + _translation;
_shapes[i]->setPosition(worldPosition);
glm::quat localRotation = _jointStates[i].combinedRotation * joint.shapeRotation;
glm::quat worldRotation = _rotation * localRotation;
_shapes[i]->setRotation(worldRotation);
_shapes[i]->setRotation(_jointStates[i].combinedRotation * joint.shapeRotation);
}
_shapesAreDirty = false;
}
@ -755,7 +753,6 @@ void Model::renderCollisionProxies(float alpha) {
Application::getInstance()->loadTranslatedViewMatrix(_translation);
updateShapePositions();
const int BALL_SUBDIVISIONS = 10;
glm::quat inverseRotation = glm::inverse(_rotation);
for (int i = 0; i < _shapes.size(); i++) {
glPushMatrix();
@ -763,9 +760,9 @@ void Model::renderCollisionProxies(float alpha) {
if (shape->getType() == Shape::SPHERE_SHAPE) {
// shapes are stored in world-frame, so we have to transform into model frame
glm::vec3 position = inverseRotation * (shape->getPosition() - _translation);
glm::vec3 position = shape->getPosition() - _translation;
glTranslatef(position.x, position.y, position.z);
const glm::quat& rotation = inverseRotation;
const glm::quat& rotation = shape->getRotation();
glm::vec3 axis = glm::axis(rotation);
glRotatef(glm::angle(rotation), axis.x, axis.y, axis.z);
@ -778,7 +775,7 @@ void Model::renderCollisionProxies(float alpha) {
// draw a blue sphere at the capsule endpoint
glm::vec3 endPoint;
capsule->getEndPoint(endPoint);
endPoint = inverseRotation * (endPoint - _translation);
endPoint = endPoint - _translation;
glTranslatef(endPoint.x, endPoint.y, endPoint.z);
glColor4f(0.6f, 0.6f, 0.8f, alpha);
glutSolidSphere(capsule->getRadius(), BALL_SUBDIVISIONS, BALL_SUBDIVISIONS);
@ -786,7 +783,7 @@ void Model::renderCollisionProxies(float alpha) {
// draw a yellow sphere at the capsule startpoint
glm::vec3 startPoint;
capsule->getStartPoint(startPoint);
startPoint = inverseRotation * (startPoint - _translation);
startPoint = startPoint - _translation;
glm::vec3 axis = endPoint - startPoint;
glTranslatef(-axis.x, -axis.y, -axis.z);
glColor4f(0.8f, 0.8f, 0.6f, alpha);