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lovr
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Orientation fixes;

This commit is contained in:
bjorn 2017-05-16 23:11:53 -06:00
parent 9d6e5252a5
commit 9e907d6dec
2 changed files with 11 additions and 6 deletions
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2
src/api/types/body.c
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@ -28,7 +28,7 @@ int l_lovrBodyGetOrientation(lua_State* L) {
lua_pushnumber(L, x);
lua_pushnumber(L, y);
lua_pushnumber(L, z);
return 3;
return 4;
}
int l_lovrBodySetOrientation(lua_State* L) {

15
src/physics/physics.c
View File

@ -108,14 +108,16 @@ void lovrBodySetPosition(Body* body, float x, float y, float z) {
void lovrBodyGetOrientation(Body* body, float* angle, float* x, float* y, float* z) {
const dReal* q = dBodyGetQuaternion(body->id);
float quaternion[4] = { q[0], q[1], q[2], q[3] };
float quaternion[4] = { q[1], q[2], q[3], q[0] };
quat_getAngleAxis(quaternion, angle, x, y, z);
}
void lovrBodySetOrientation(Body* body, float angle, float x, float y, float z) {
float quaternion[4];
float axis[3] = { x, y, z };
dBodySetQuaternion(body->id, quat_fromAngleAxis(quaternion, angle, axis));
quat_fromAngleAxis(quaternion, angle, axis);
float q[4] = { quaternion[3], quaternion[0], quaternion[1], quaternion[2] };
dBodySetQuaternion(body->id, q);
}
void lovrBodyGetLinearVelocity(Body* body, float* x, float* y, float* z) {
@ -354,15 +356,18 @@ void lovrShapeSetPosition(Shape* shape, float x, float y, float z) {
}
void lovrShapeGetOrientation(Shape* shape, float* angle, float* x, float* y, float* z) {
float quaternion[4];
dGeomGetOffsetQuaternion(shape->id, quaternion);
dReal q[4];
dGeomGetOffsetQuaternion(shape->id, q);
float quaternion[4] = { q[1], q[2], q[3], q[0] };
quat_getAngleAxis(quaternion, angle, x, y, z);
}
void lovrShapeSetOrientation(Shape* shape, float angle, float x, float y, float z) {
float quaternion[4];
float axis[3] = { x, y, z };
dGeomSetOffsetQuaternion(shape->id, quat_fromAngleAxis(quaternion, angle, axis));
quat_fromAngleAxis(quaternion, angle, axis);
float q[4] = { quaternion[3], quaternion[0], quaternion[1], quaternion[2] };
dGeomSetOffsetQuaternion(shape->id, q);
}
uint32_t lovrShapeGetCategory(Shape* shape) {