diff options
Diffstat (limited to 'source/blender/blenkernel/intern/rigidbody.c')
-rw-r--r-- | source/blender/blenkernel/intern/rigidbody.c | 42 |
1 files changed, 39 insertions, 3 deletions
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) |