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Added rotation

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This commit is contained in:
FlareMicrosystems
2022-10-01 19:30:57 -07:00
parent 8e73755d80
commit bc9a5bfc72
1 changed files with 13 additions and 2 deletions
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15
src/source/XplicitNgine/XplicitNgine.cpp
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@@ -96,6 +96,13 @@ void XplicitNgine::createBody(PartInstance* partInstance)
partInstance->getPosition()[2] partInstance->getPosition()[2]
); );
Matrix3 g3dRot = partInstance->getCFrame().rotation;
float rotation [12] = { g3dRot[0][0], g3dRot[0][1], g3dRot[0][2], 0,
g3dRot[1][0], g3dRot[1][1], g3dRot[1][2], 0,
g3dRot[2][0], g3dRot[2][1], g3dRot[2][2], 0};
dBodySetRotation(partInstance->physBody, rotation);
printf("[XplicitNgine] Created Body for PartInstance\n"); printf("[XplicitNgine] Created Body for PartInstance\n");
if(!partInstance->anchored) if(!partInstance->anchored)
@@ -110,8 +117,12 @@ void XplicitNgine::createBody(PartInstance* partInstance)
// TODO: Rotation code // TODO: Rotation code
// Probably should be done AFTER we get physics KINDA working!!! // Probably should be done AFTER we get physics KINDA working!!!
const dReal* physRotation = dGeomGetRotation(partInstance->physGeom[0]); const dReal* physRotation = dGeomGetRotation(partInstance->physGeom[0]);
partInstance->setPosition(Vector3(physPosition[0], physPosition[1], physPosition[2])); //partInstance->setPosition(Vector3(physPosition[0], physPosition[1], physPosition[2]));
partInstance->setCFrame(CoordinateFrame(
Matrix3(physRotation[0],physRotation[1],physRotation[2],
physRotation[4],physRotation[5],physRotation[6],
physRotation[8],physRotation[9],physRotation[10]),
Vector3(physPosition[0], physPosition[1], physPosition[2])));
} }
dWorldQuickStep(physWorld,0.05); dWorldQuickStep(physWorld,0.05);