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some more fixes in the raycast/mouse over

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This commit is contained in:
Erwin Coumans
2005-08-17 19:52:56 +00:00
parent 829cb52ac6
commit c99c7fbcb3
17 changed files with 273 additions and 276 deletions
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29
source/gameengine/Physics/Bullet/CcdPhysicsController.cpp
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@@ -120,9 +120,36 @@ void CcdPhysicsController::RelativeTranslate(float dlocX,float dlocY,float dloc
}
void CcdPhysicsController::RelativeRotate(const float drot[9],bool local)
void CcdPhysicsController::RelativeRotate(const float rotval[9],bool local)
{
if (m_body )
{
SimdMatrix3x3 drotmat( rotval[0],rotval[1],rotval[2],
rotval[4],rotval[5],rotval[6],
rotval[8],rotval[9],rotval[10]);
SimdMatrix3x3 currentOrn;
GetWorldOrientation(currentOrn);
SimdTransform xform = m_body->getCenterOfMassTransform();
xform.setBasis(xform.getBasis()*(local ?
drotmat : (currentOrn.inverse() * drotmat * currentOrn)));
m_body->setCenterOfMassTransform(xform);
}
}
void CcdPhysicsController::GetWorldOrientation(SimdMatrix3x3& mat)
{
float orn[4];
m_MotionState->getWorldOrientation(orn[0],orn[1],orn[2],orn[3]);
SimdQuaternion quat(orn[0],orn[1],orn[2],orn[3]);
mat.setRotation(quat);
}
void CcdPhysicsController::getOrientation(float &quatImag0,float &quatImag1,float &quatImag2,float &quatReal)
{