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| author | Rémi Verschelde <rverschelde@gmail.com> | 2017-10-31 23:03:01 +0100 |
|---|---|---|
| committer | GitHub <noreply@github.com> | 2017-10-31 23:03:01 +0100 |
| commit | cb3f594b148e33bebf99955c0bb7dce02c8a50c7 (patch) | |
| tree | f47a6dc447a83c323c7946ad178420ac66588c36 /servers/physics | |
| parent | 24b3733f3bc416f62d353d279733cfaab606f918 (diff) | |
| parent | 3df217b1a166e2a6ed836a5bc12d05239fdce3c8 (diff) | |
Merge pull request #11249 from m4nu3lf/bugfix/get_euler
Fix inertia tensor update & Generic6DOFJoint & Simplify Basis::get_euler()
Diffstat (limited to 'servers/physics')
| -rw-r--r-- | servers/physics/body_sw.cpp | 5 | ||||
| -rw-r--r-- | servers/physics/joints/generic_6dof_joint_sw.cpp | 4 |
2 files changed, 5 insertions, 4 deletions
diff --git a/servers/physics/body_sw.cpp b/servers/physics/body_sw.cpp index 46a5192e52..6ced004118 100644 --- a/servers/physics/body_sw.cpp +++ b/servers/physics/body_sw.cpp @@ -45,8 +45,9 @@ void BodySW::_update_transform_dependant() { // update inertia tensor Basis tb = principal_inertia_axes; Basis tbt = tb.transposed(); - tb.scale(_inv_inertia); - _inv_inertia_tensor = tb * tbt; + Basis diag; + diag.scale(_inv_inertia); + _inv_inertia_tensor = tb * diag * tbt; } void BodySW::update_inertias() { diff --git a/servers/physics/joints/generic_6dof_joint_sw.cpp b/servers/physics/joints/generic_6dof_joint_sw.cpp index 70cc549e2d..1e323be36c 100644 --- a/servers/physics/joints/generic_6dof_joint_sw.cpp +++ b/servers/physics/joints/generic_6dof_joint_sw.cpp @@ -219,9 +219,9 @@ Generic6DOFJointSW::Generic6DOFJointSW(BodySW *rbA, BodySW *rbB, const Transform } void Generic6DOFJointSW::calculateAngleInfo() { - Basis relative_frame = m_calculatedTransformA.basis.inverse() * m_calculatedTransformB.basis; + Basis relative_frame = m_calculatedTransformB.basis.inverse() * m_calculatedTransformA.basis; - m_calculatedAxisAngleDiff = relative_frame.get_euler(); + m_calculatedAxisAngleDiff = relative_frame.get_euler_xyz(); // in euler angle mode we do not actually constrain the angular velocity // along the axes axis[0] and axis[2] (although we do use axis[1]) : |