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Fixed collision object jolt rotatation

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This commit is contained in:
Antoine Pilote
2023-04-02 18:36:33 -04:00
parent d1b2e2379f
commit 17849584e5
2 changed files with 18 additions and 10 deletions
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25
Nuake/src/Core/Physics/DynamicWorld.cpp
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@@ -389,10 +389,11 @@ namespace Nuake
for (const auto& body : _registeredBodies)
{
JPH::BodyID bodyId = static_cast<JPH::BodyID>(body);
auto bodyId = static_cast<JPH::BodyID>(body);
JPH::Vec3 position = bodyInterface.GetCenterOfMassPosition(bodyId);
JPH::Vec3 velocity = bodyInterface.GetLinearVelocity(bodyId);
JPH::Mat44 joltTransform = bodyInterface.GetWorldTransform(bodyId);
const auto bodyRotation = bodyInterface.GetRotation(bodyId);
Matrix4 transform = glm::mat4(
joltTransform(0, 0), joltTransform(1, 0), joltTransform(2, 0), joltTransform(3, 0),
@@ -416,7 +417,7 @@ namespace Nuake
//transformComponent.GlobalTransform = transform;
transformComponent.SetLocalPosition(pos);
transformComponent.Dirty = false;
transformComponent.SetLocalRotation(rotation);
transformComponent.SetLocalRotation(Quat(bodyRotation.GetW(), bodyRotation.GetX(), bodyRotation.GetY(), bodyRotation.GetZ()));
//transformComponent.SetLocalScale(scale);
Matrix4 newTransform = Matrix4(1.0f);
@@ -430,30 +431,34 @@ namespace Nuake
const std::string& logMsg = "Physics pos: " + name + " at " + posStr;
Logger::Log(logMsg);
}
// If you take larger steps than 1 / 60th of a second you need to do multiple collision steps in order to keep the simulation stable. Do 1 collision step per 1 / 60th of a second (round up).
// If you take larger steps than 1 / 60th of a second you need to do multiple collision steps in order to keep the simulation stable.
// Do 1 collision step per 1 / 60th of a second (round up).
int collisionSteps = 1;
const float minStepDuration = 1.0f / 60.0f;
constexpr float minStepDuration = 1.0f / 60.0f;
if(ts > minStepDuration)
{
collisionSteps = ts / minStepDuration;
collisionSteps = static_cast<float>(ts) / minStepDuration;
}
// If you want more accurate step results you can do multiple sub steps within a collision step. Usually you would set this to 1.
const int cIntegrationSubSteps = 1;
constexpr int subSteps = 1;
// Step the world
_JoltPhysicsSystem->Update(ts, collisionSteps, cIntegrationSubSteps, new JPH::TempAllocatorMalloc(), _JoltJobSystem);
_JoltPhysicsSystem->Update(ts, collisionSteps, subSteps, new JPH::TempAllocatorMalloc(), _JoltJobSystem);
}
void DynamicWorld::Clear()
{
_stepCount = 0;
if (_registeredBodies.size() > 0)
if (_registeredBodies.empty())
{
_JoltBodyInterface->RemoveBodies((JPH::BodyID*)_registeredBodies.data(), _registeredBodies.size());
_registeredBodies.clear();
return;
}
_JoltBodyInterface->RemoveBodies(reinterpret_cast<JPH::BodyID*>(_registeredBodies.data()), _registeredBodies.size());
_registeredBodies.clear();
}
}
}

3
Nuake/src/Core/Physics/DynamicWorld.h
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@@ -52,6 +52,9 @@ namespace Nuake
RaycastResult Raycast(glm::vec3 from, glm::vec3 to);
void StepSimulation(Timestep ts);
void Clear();
private:
};
}
}