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Merge pull request #2068 from QuantumCoderQC/conFix

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Improve physics constraint handling
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Lubos Lenco 2020-12-25 19:01:42 +01:00 committed by GitHub
parent 569b2daecc a0422d49f2
commit 268a59a4c7
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1 changed files with 29 additions and 9 deletions
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38
Sources/armory/trait/physics/bullet/PhysicsConstraint.hx
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@ -1,5 +1,6 @@
package armory.trait.physics.bullet;
import iron.math.Vec4;
import iron.Scene;
import iron.object.Object;
#if arm_bullet
@ -93,20 +94,39 @@ class PhysicsConstraint extends iron.Trait {
var t1 = target1.transform;
var t2 = target2.transform;
var frameT = t.world.clone();//Transform of pivot in world space
var frameInA = t1.world.clone();//Transform of rb1 in world space
frameInA.getInverse(frameInA);//Inverse Transform of rb1 in world space
frameT.multmat(frameInA);//Transform of pivot object in rb1 space
frameInA = frameT.clone();//Frame In A
frameT = t.world.clone();//Transform of pivot in world space
var frameInB = t2.world.clone();//Transform of rb2 in world space
frameInB.getInverse(frameInB);//Inverse Transform of rb2 in world space
frameT.multmat(frameInB);//Transform of pivot object in rb2 space
frameInB = frameT.clone();//Frame In B
var loc = new Vec4();
var rot = new Quat();
var scl = new Vec4();
frameInA.decompose(loc,rot,scl);
trans1.setIdentity();
vec1.setX(t.worldx() - t1.worldx());
vec1.setY(t.worldy() - t1.worldy());
vec1.setZ(t.worldz() - t1.worldz());
vec1.setX(loc.x);
vec1.setY(loc.y);
vec1.setZ(loc.z);
trans1.setOrigin(vec1);
trans1.setRotation(new bullet.Bt.Quaternion(rot.x, rot.y, rot.z, rot.w));
frameInB.decompose(loc,rot,scl);
trans2.setIdentity();
vec2.setX(t.worldx() - t2.worldx());
vec2.setY(t.worldy() - t2.worldy());
vec2.setZ(t.worldz() - t2.worldz());
vec2.setX(loc.x);
vec2.setY(loc.y);
vec2.setZ(loc.z);
trans2.setOrigin(vec2);
trans1.setRotation(new bullet.Bt.Quaternion(t.rot.x, t.rot.y, t.rot.z, t.rot.w));
trans2.setRotation(new bullet.Bt.Quaternion(t.rot.x, t.rot.y, t.rot.z, t.rot.w));
trans2.setRotation(new bullet.Bt.Quaternion(rot.x, rot.y, rot.z, rot.w));
if (type == Generic || type == Fixed) {
#if hl