Mirrors/overte
3
0
Fork 0
mirror of https://github.com/overte-org/overte.git synced 2025-08-04 23:29:39 +02:00
Code Issues Projects Releases Packages Wiki Activity Actions

fix bad transform math for placing shapes

Browse source
This commit is contained in:
Andrew Meadows 2014-03-05 11:57:07 -08:00
parent 89f664c0ee
commit a1856ac18b
1 changed files with 8 additions and 11 deletions
Show stats Download patch file Download diff file Expand all files Collapse all files

19
interface/src/renderer/Model.cpp
View file

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