ilikecats/stk-code_catmod
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Fixed rescue transform: the heading rotation need to be done around

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(0,1,0), not around the normal, and the order of rotation needs to be
first the heading rotation, then pitch/roll to make the kart parallel
to the ground.
This commit is contained in:
hiker 2014-07-23 08:11:30 +10:00
parent f0ea8a1a38
commit 0ef42111bc
1 changed files with 13 additions and 3 deletions
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16
src/modes/linear_world.cpp
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@ -636,6 +636,7 @@ btTransform LinearWorld::getRescueTransform(unsigned int index) const
const Vec3 &xyz = QuadGraph::get()->getQuadOfNode(index).getCenter();
const Vec3 &normal = QuadGraph::get()->getQuadOfNode(index).getNormal();
btTransform pos;
pos.setOrigin(xyz);
// First rotate into the quad's plane (q1), then rotate so that the kart points in the
// right direction (q2).
@ -646,9 +647,18 @@ btTransform LinearWorld::getRescueTransform(unsigned int index) const
}
else q1 = btQuaternion(Vec3(0,1,0),0);
btQuaternion q2(btVector3(normal), m_track->getAngle(index));
pos.setOrigin(xyz);
pos.setRotation(q2*q1);
btQuaternion q2(btVector3(0,1,0), m_track->getAngle(index));
// First apply the heading change, than the 'parallelisation' to the plane
pos.setRotation(q1*q2);
#ifdef DEBUG
btQuaternion r = q1*q2;
btVector3 axis = r.getAxis();
float angle = r.getAngle();
Log::verbose("rescue", "%d angle %f axis %f %f %f pos %f %f %f",
index, angle, axis.getX(),axis.getY(),axis.getZ(),
xyz.getX(),xyz.getY(),xyz.getZ());
#endif
return pos;
} // getRescueTransform