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Avoid use of quaternions, simplify rescue animation. Heading is currently

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unchanged, but it looks ok-ish.
This commit is contained in:
hiker 2014-07-23 08:02:13 +10:00
parent 20603a2084
commit 6c02849df3
2 changed files with 29 additions and 28 deletions
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18
src/karts/moveable.hpp
View File

@ -90,15 +90,23 @@ public:
m_transform.setOrigin(a);
if(m_motion_state)
m_motion_state->setWorldTransform(m_transform);
}
} // setXYZ
// ------------------------------------------------------------------------
/** Sets the rotation of this moveable. */
void setRotation(const btQuaternion&a)
/** Sets the rotation of the physical body this moveable. */
void setRotation(const btMatrix3x3 &m)
{
m_transform.setRotation(a);
m_transform.setBasis(m);
if(m_motion_state)
m_motion_state->setWorldTransform(m_transform);
}
} // setRotation(btMatrix3x3)
// ------------------------------------------------------------------------
/** Sets the rotation of the physical body this moveable. */
void setRotation(const btQuaternion &q)
{
m_transform.setRotation(q);
if(m_motion_state)
m_motion_state->setWorldTransform(m_transform);
} // setRotation(btQuaternion)
// ------------------------------------------------------------------------
virtual void updateGraphics(float dt, const Vec3& off_xyz,
const btQuaternion& off_rotation);

39
src/karts/rescue_animation.cpp
View File

@ -45,27 +45,20 @@ RescueAnimation::RescueAnimation(AbstractKart *kart, bool is_auto_rescue)
m_kart->getAttachment()->clear();
// We get the final transform of the kart so that it is rotated
// accordingly during the rescue animation
World * world = World::getWorld();
unsigned int index = world->getRescuePositionIndex(m_kart);
btTransform t = world->getRescueTransform(index);
Vec3 up = t.getBasis().getColumn(1);
float target_pitch = atan2(up.getZ(), fabsf(up.getY()));
float target_roll = atan2(up.getX(), up.getY());
// Get the current rotation of the kart
m_curr_rotation = m_kart->getNode()->getRotation() * DEGREE_TO_RAD;
m_curr_rotation.setPitch(m_kart->getPitch());
m_curr_rotation.setRoll(m_kart->getRoll());
m_curr_rotation.setHeading(0);
Vec3 required_rotation;
required_rotation.setPitch(target_pitch - m_kart->getPitch());
required_rotation.setRoll(target_roll - m_kart->getRoll());
required_rotation.setHeading(0);
m_add_rotation = -required_rotation/m_timer;
m_curr_rotation.setHeading(m_kart->getHeading());
// Determine the rotation that will rotate the kart from the current
// up direction to the right up direction it should have according to
// the normal at the kart's location
Vec3 up = m_kart->getTrans().getBasis().getColumn(1);
btQuaternion q = shortestArcQuat(up, m_kart->getNormal());
// Store this rotation as 'delta HPR', which is added over time to the
// current rotation to end up (after m_timer seconds) with the right up
// rotation
m_add_rotation.setHPR(q);
m_add_rotation /= m_timer;
// Add a hit unless it was auto-rescue
if(race_manager->getMinorMode()==RaceManager::MINOR_MODE_3_STRIKES &&
@ -112,13 +105,13 @@ RescueAnimation::~RescueAnimation()
*/
void RescueAnimation::update(float dt)
{
btQuaternion q1 = m_kart->getTrans().getRotation();
m_xyz += dt*m_velocity * m_kart->getNormal();
m_kart->setXYZ(m_xyz);
m_curr_rotation += dt*m_add_rotation;
btQuaternion q(m_curr_rotation.getHeading(), m_curr_rotation.getPitch(),
btMatrix3x3 m;
m.setEulerZYX(m_curr_rotation.getPitch(), m_curr_rotation.getHeading(),
m_curr_rotation.getRoll());
m_kart->setRotation(q);
m_kart->setRotation(m);
AbstractKartAnimation::update(dt);