Commit: d1dfd5fa26d89e40ecbf39b9ac921d341f8fdc41
Author: Luca Rood
Date: Tue Jul 4 10:12:09 2017 +0200
Branches: master
https://developer.blender.org/rBd1dfd5fa26d89e40ecbf39b9ac921d341f8fdc41
Fix T51703: Rigid body with delta transform jumps when transforming
When doing any transformation on a rigid body object that has delta
transforms, the object would be offset by the amount of the delta
transform.
===================================================================
M source/blender/blenkernel/intern/rigidbody.c
M source/blender/editors/transform/transform_conversions.c
===================================================================
diff --git a/source/blender/blenkernel/intern/rigidbody.c
b/source/blender/blenkernel/intern/rigidbody.c
index c18366d1b8a..e8c0cf53d0b 100644
--- a/source/blender/blenkernel/intern/rigidbody.c
+++ b/source/blender/blenkernel/intern/rigidbody.c
@@ -1486,24 +1486,60 @@ void BKE_rigidbody_sync_transforms(RigidBodyWorld *rbw,
Object *ob, float ctime)
void BKE_rigidbody_aftertrans_update(Object *ob, float loc[3], float rot[3],
float quat[4], float rotAxis[3], float rotAngle)
{
RigidBodyOb *rbo = ob->rigidbody_object;
+ bool correct_delta = !(rbo->flag & RBO_FLAG_KINEMATIC || rbo->type ==
RBO_TYPE_PASSIVE);
/* return rigid body and object to their initial states */
copy_v3_v3(rbo->pos, ob->loc);
copy_v3_v3(ob->loc, loc);
+ if (correct_delta) {
+ add_v3_v3(rbo->pos, ob->dloc);
+ }
+
if (ob->rotmode > 0) {
- eulO_to_quat(rbo->orn, ob->rot, ob->rotmode);
+ float qt[4];
+ eulO_to_quat(qt, ob->rot, ob->rotmode);
+
+ if (correct_delta) {
+ float dquat[4];
+ eulO_to_quat(dquat, ob->drot, ob->rotmode);
+
+ mul_qt_qtqt(rbo->orn, dquat, qt);
+ }
+ else {
+ copy_qt_qt(rbo->orn, qt);
+ }
+
copy_v3_v3(ob->rot, rot);
}
else if (ob->rotmode == ROT_MODE_AXISANGLE) {
- axis_angle_to_quat(rbo->orn, ob->rotAxis, ob->rotAngle);
+ float qt[4];
+ axis_angle_to_quat(qt, ob->rotAxis, ob->rotAngle);
+
+ if (correct_delta) {
+ float dquat[4];
+ axis_angle_to_quat(dquat, ob->drotAxis, ob->drotAngle);
+
+ mul_qt_qtqt(rbo->orn, dquat, qt);
+ }
+ else {
+ copy_qt_qt(rbo->orn, qt);
+ }
+
copy_v3_v3(ob->rotAxis, rotAxis);
ob->rotAngle = rotAngle;
}
else {
- copy_qt_qt(rbo->orn, ob->quat);
+ if (correct_delta) {
+ mul_qt_qtqt(rbo->orn, ob->dquat, ob->quat);
+ }
+ else {
+ copy_qt_qt(rbo->orn, ob->quat);
+ }
+
copy_qt_qt(ob->quat, quat);
}
+
if (rbo->physics_object) {
/* allow passive objects to return to original transform */
if (rbo->type == RBO_TYPE_PASSIVE)
diff --git a/source/blender/editors/transform/transform_conversions.c
b/source/blender/editors/transform/transform_conversions.c
index ba474e93b70..1eb9b3caa3e 100644
--- a/source/blender/editors/transform/transform_conversions.c
+++ b/source/blender/editors/transform/transform_conversions.c
@@ -5349,7 +5349,8 @@ static void ObjectToTransData(TransInfo *t, TransData
*td, Object *ob)
}
/* update object's loc/rot to get current rigid body
transform */
mat4_to_loc_rot_size(ob->loc, rot, scale, ob->obmat);
- BKE_object_mat3_to_rot(ob, rot, false);
+ sub_v3_v3(ob->loc, ob->dloc);
+ BKE_object_mat3_to_rot(ob, rot, false); /* drot is
already corrected here */
}
}
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