Revision: 2532
http://rigsofrods.svn.sourceforge.net/rigsofrods/?rev=2532&view=rev
Author: ulteq
Date: 2012-05-09 00:35:59 +0000 (Wed, 09 May 2012)
Log Message:
-----------
flexbody++
Modified Paths:
--------------
trunk/source/main/physics/flex/FlexBody.cpp
Modified: trunk/source/main/physics/flex/FlexBody.cpp
===================================================================
--- trunk/source/main/physics/flex/FlexBody.cpp 2012-05-09 00:28:05 UTC (rev
2531)
+++ trunk/source/main/physics/flex/FlexBody.cpp 2012-05-09 00:35:59 UTC (rev
2532)
@@ -86,16 +86,19 @@
Quaternion orientation = Quaternion::ZERO;
if(ref >= 0)
{
-
normal=(nodes[ny].smoothpos-nodes[ref].smoothpos).crossProduct(nodes[nx].smoothpos-nodes[ref].smoothpos);
- normal.normalise();
- //position
-
position=nodes[ref].smoothpos+offset.x*(nodes[nx].smoothpos-nodes[ref].smoothpos)+offset.y*(nodes[ny].smoothpos-nodes[ref].smoothpos);
- position=(position+normal*offset.z);
- //orientation
- Vector3 refx=nodes[nx].smoothpos-nodes[ref].smoothpos;
- refx.normalise();
- Vector3 refy=refx.crossProduct(normal);
- orientation=Quaternion(refx, normal, refy)*rot;
+ Vector3 diffX = nodes[nx].smoothpos-nodes[ref].smoothpos;
+ Vector3 diffY = nodes[ny].smoothpos-nodes[ref].smoothpos;
+
+ normal = fast_normalise(diffY.crossProduct(diffX));
+
+ // position
+ position = nodes[ref].smoothpos + offset.x*diffX +
offset.y*diffY;
+ position = position + offset.z*normal;
+
+ // orientation
+ Vector3 refX = fast_normalise(diffX);
+ Vector3 refY = diffX.crossProduct(normal);
+ orientation = Quaternion(refX, normal, refY) * rot;
} else
{
// special case!
@@ -384,20 +387,22 @@
//search another close, orthogonal node as the Y vector
mindist=100000.0;
minnode=-1;
- Vector3
vx=nodes[locs[i].nx].smoothpos-nodes[locs[i].ref].smoothpos;
- vx.normalise();
+ Vector3 vx = fast_normalise(nodes[locs[i].nx].smoothpos -
nodes[locs[i].ref].smoothpos);
for (int k=0; k<numnodes; k++)
{
if (!isinset(k)) continue;
//if (nodes[k].iswheel) continue;
if (k==locs[i].ref) continue;
if (k==locs[i].nx) continue;
- Vector3
vt=nodes[k].smoothpos-nodes[locs[i].ref].smoothpos;
- vt.normalise();
- float cost=vx.dotProduct(vt);
+ Vector3 vt = fast_normalise(nodes[k].smoothpos -
nodes[locs[i].ref].smoothpos);
+ float cost = vx.dotProduct(vt);
if (cost>0.707 || cost<-0.707) continue; //rejection,
fails the orthogonality criterion (+-45 degree)
- float dist=(vertices[i]-nodes[k].smoothpos).length();
- if (dist<mindist) {mindist=dist;minnode=k;};
+ float dist = (vertices[i] -
nodes[k].smoothpos).length();
+ if (dist < mindist)
+ {
+ mindist = dist;
+ minnode = k;
+ };
}
if (minnode==-1) LOG("FLEXBODY ERROR on mesh
"+String(meshname)+": VY node not found");
locs[i].ny=minnode;
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