From a4b0d004a160fedb701312301b25bc63edc1f350 Mon Sep 17 00:00:00 2001
From: Josip Miskovic <josipmiskovic@gmail.com>
Date: Sun, 26 Apr 2020 11:16:14 +0300
Subject: [PATCH] Fix collider setOrientation() and setPose()

The conversion from angle,ax,ay,az to quaternion is already done in
physics module.
---
 src/api/l_physics_collider.c  | 4 ++--
 src/modules/physics/physics.c | 4 +---
 src/modules/physics/physics.h | 2 +-
 3 files changed, 4 insertions(+), 6 deletions(-)

diff --git a/src/api/l_physics_collider.c b/src/api/l_physics_collider.c
index f349109f..beefa526 100644
--- a/src/api/l_physics_collider.c
+++ b/src/api/l_physics_collider.c
@@ -222,7 +222,7 @@ static int l_lovrColliderSetOrientation(lua_State* L) {
   Collider* collider = luax_checktype(L, 1, Collider);
   float orientation[4];
   luax_readquat(L, 2, orientation, NULL);
-  lovrColliderSetOrientation(collider, orientation[0], orientation[1], orientation[2], orientation[3]);
+  lovrColliderSetOrientation(collider, orientation);
   return 0;
 }
 
@@ -247,7 +247,7 @@ static int l_lovrColliderSetPose(lua_State* L) {
   int index = luax_readvec3(L, 2, position, NULL);
   luax_readquat(L, index, orientation, NULL);
   lovrColliderSetPosition(collider, position[0], position[1], position[2]);
-  lovrColliderSetOrientation(collider, orientation[0], orientation[1], orientation[2], orientation[3]);
+  lovrColliderSetOrientation(collider, orientation);
   return 0;
 }
 
diff --git a/src/modules/physics/physics.c b/src/modules/physics/physics.c
index 75e2aa8e..374a0513 100644
--- a/src/modules/physics/physics.c
+++ b/src/modules/physics/physics.c
@@ -517,9 +517,7 @@ void lovrColliderGetOrientation(Collider* collider, float* angle, float* x, floa
   quat_getAngleAxis(quaternion, angle, x, y, z);
 }
 
-void lovrColliderSetOrientation(Collider* collider, float angle, float x, float y, float z) {
-  float quaternion[4];
-  quat_fromAngleAxis(quaternion, angle, x, y, z);
+void lovrColliderSetOrientation(Collider* collider, float* quaternion) {
   float q[4] = { quaternion[3], quaternion[0], quaternion[1], quaternion[2] };
   dBodySetQuaternion(collider->body, q);
 }
diff --git a/src/modules/physics/physics.h b/src/modules/physics/physics.h
index 4ae5350b..20f77080 100644
--- a/src/modules/physics/physics.h
+++ b/src/modules/physics/physics.h
@@ -139,7 +139,7 @@ void lovrColliderSetMassData(Collider* collider, float cx, float cy, float cz, f
 void lovrColliderGetPosition(Collider* collider, float* x, float* y, float* z);
 void lovrColliderSetPosition(Collider* collider, float x, float y, float z);
 void lovrColliderGetOrientation(Collider* collider, float* angle, float* x, float* y, float* z);
-void lovrColliderSetOrientation(Collider* collider, float angle, float x, float y, float z);
+void lovrColliderSetOrientation(Collider* collider, float* quaternion);
 void lovrColliderGetLinearVelocity(Collider* collider, float* x, float* y, float* z);
 void lovrColliderSetLinearVelocity(Collider* collider, float x, float y, float z);
 void lovrColliderGetAngularVelocity(Collider* collider, float* x, float* y, float* z);