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Fixed set transformation

This commit is contained in:
Robin Engman 2014-02-12 13:55:43 +01:00
parent d4fa29e8a8
commit 777c1183c5
1 changed files with 8 additions and 8 deletions
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16
Code/GamePhysics/Implementation/SimpleRigidBody.cpp
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@ -106,36 +106,36 @@ void SimpleRigidBody::SetLinearVelocity(Float3 velocity)
void SimpleRigidBody::SetPosition(::Oyster::Math::Float3 position)
{
btTransform trans;
this->motionState->getWorldTransform(trans);
trans = this->rigidBody->getWorldTransform();
trans.setOrigin(btVector3(position.x, position.y, position.z));
this->motionState->setWorldTransform(trans);
this->rigidBody->setWorldTransform(trans);
this->state.centerPos = position;
}
void SimpleRigidBody::SetRotation(Float4 quaternion)
{
btTransform trans;
this->motionState->getWorldTransform(trans);
trans = this->rigidBody->getWorldTransform();
trans.setRotation(btQuaternion(quaternion.x, quaternion.y, quaternion.z, quaternion.w));
this->motionState->setWorldTransform(trans);
this->rigidBody->setWorldTransform(trans);
this->state.quaternion = Quaternion(quaternion.xyz, quaternion.w);
}
void SimpleRigidBody::SetRotation(::Oyster::Math::Quaternion quaternion)
{
btTransform trans;
this->motionState->getWorldTransform(trans);
trans = this->rigidBody->getWorldTransform();
trans.setRotation(btQuaternion(quaternion.imaginary.x, quaternion.imaginary.y, quaternion.imaginary.z, quaternion.real));
this->motionState->setWorldTransform(trans);
this->rigidBody->setWorldTransform(trans);
this->state.quaternion = quaternion;
}
void SimpleRigidBody::SetRotation(Float3 eulerAngles)
{
btTransform trans;
this->motionState->getWorldTransform(trans);
trans = this->rigidBody->getWorldTransform();
trans.setRotation(btQuaternion(eulerAngles.x, eulerAngles.y, eulerAngles.z));
this->motionState->setWorldTransform(trans);
this->rigidBody->setWorldTransform(trans);
this->state.quaternion = Quaternion(Float3(trans.getRotation().x(), trans.getRotation().y(), trans.getRotation().z()), trans.getRotation().w());
}