fixing bug due to bullet's rel_pos

xbpeng · May 19, 2016 · acb9b7a · acb9b7a
1 parent f58d228
commit acb9b7a
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Showing 9 changed files with 89 additions and 81 deletions.
diff --git a/render/DrawPerturb.cpp b/render/DrawPerturb.cpp
@@ -53,14 +53,14 @@ void cDrawPerturb::Draw(const tPerturb& perturb)
 
 void cDrawPerturb::DrawForce(const tPerturb& perturb)
 {
-	tVector pos = perturb.mObj->LocalToWorldPos(perturb.mPosRel);
+	tVector pos = perturb.mObj->LocalToWorldPos(perturb.mLocalPos);
 	const tVector& force = perturb.mPerturb;
 	DrawForce2D(pos, force);
 }
 
 void cDrawPerturb::DrawTorque(const tPerturb& perturb)
 {
-	tVector pos = perturb.mObj->LocalToWorldPos(perturb.mPosRel);
+	tVector pos = perturb.mObj->LocalToWorldPos(perturb.mLocalPos);
 	const tVector& torque = perturb.mPerturb;
 	DrawTorque2D(pos, torque);
 }
diff --git a/scenarios/ScenarioSimChar.cpp b/scenarios/ScenarioSimChar.cpp
@@ -212,7 +212,7 @@ void cScenarioSimChar::ApplyRandForce(double min_force, double max_force,
 	assert(obj != nullptr);
 	tPerturb perturb = tPerturb::BuildForce();
 	perturb.mObj = obj;
-	perturb.mPosRel.setZero();
+	perturb.mLocalPos.setZero();
 	perturb.mPerturb[0] = cMathUtil::RandSign() * cMathUtil::RandDouble(0, 1);
 	perturb.mPerturb[1] = cMathUtil::RandSign() * cMathUtil::RandDouble(0, 1);
 	perturb.mPerturb[2] = cMathUtil::RandSign() * cMathUtil::RandDouble(0, 1);

diff --git a/sim/Perturb.cpp b/sim/Perturb.cpp
@@ -13,14 +13,14 @@ tPerturb::tPerturb()
 	Clear();
 }
 
-tPerturb::tPerturb(ePerturb type, cSimObj* obj, const tVector& pos_rel,
-					const tVector& perturb, double duration)
+tPerturb::tPerturb(ePerturb type, cSimObj* obj, const tVector& local_pos,
+	const tVector& perturb, double duration)
 	: tPerturb()
 {
 	assert(type != ePerturbInvalid);
 	mType = type;
 	mObj = obj;
-	mPosRel = pos_rel;
+	mLocalPos = local_pos;
 	mPerturb = perturb;
 	mDuration = duration;
 }
@@ -38,7 +38,7 @@ void tPerturb::Clear()
 {
 	mType = ePerturbInvalid;
 	mObj = nullptr;
-	mPosRel.setZero();
+	mLocalPos.setZero();
 	mPerturb.setZero();
 	mDuration = 0;
 	mTime = 0;
@@ -69,7 +69,7 @@ void tPerturb::Update(double time_step)
 void tPerturb::ApplyForce()
 {
 	assert(mType == ePerturbForce);
-	mObj->ApplyForce(mPerturb, mPosRel);
+	mObj->ApplyForce(mPerturb, mLocalPos);
 }
 
 void tPerturb::ApplyTorque()

diff --git a/sim/Perturb.h b/sim/Perturb.h
@@ -22,14 +22,14 @@ struct tPerturb
 
 	ePerturb mType;
 	cSimObj* mObj;
-	tVector mPosRel;
+	tVector mLocalPos;
 	tVector mPerturb;
 	double mDuration;
 	double mTime;
 
 	tPerturb();
-	tPerturb(ePerturb type, cSimObj* obj, const tVector& pos_rel, 
-			const tVector& perturb, double duration);
+	tPerturb(ePerturb type, cSimObj* obj, const tVector& local_pos,
+		const tVector& perturb, double duration);
 
 	virtual ~tPerturb();
 

diff --git a/sim/SimCharacter.cpp b/sim/SimCharacter.cpp
@@ -129,8 +129,11 @@ void cSimCharacter::GetRootRotation(tVector& out_axis, double& out_theta) const
 
 tVector cSimCharacter::GetRootVel() const
 {
-	const std::shared_ptr<cSimObj>& root = mBodyParts[GetRootID()];
-	return root->GetLinearVelocity();
+	int root_id = GetRootID();
+	const std::shared_ptr<cSimObj>& root = mBodyParts[root_id];
+	tVector attach_pt = cKinTree::GetBodyAttachPt(mBodyDefs, root_id);
+	tVector vel = root->GetLinearVelocity(-attach_pt);
+	return vel;
 }
 
 tVector cSimCharacter::GetRootAngVel() const

diff --git a/sim/SimObj.cpp b/sim/SimObj.cpp
@@ -114,9 +114,9 @@ void cSimObj::ApplyForce(const tVector& force)
 	ApplyForce(force, tVector::Zero());
 }
 
-void cSimObj::ApplyForce(const tVector& force, const tVector& rel_pos)
+void cSimObj::ApplyForce(const tVector& force, const tVector& local_pos)
 {
-	mWorld->ApplyForce(force, rel_pos, this);
+	mWorld->ApplyForce(force, local_pos, this);
 }
 
 void cSimObj::ApplyTorque(const tVector& torque)

diff --git a/sim/SimObj.h b/sim/SimObj.h
@@ -45,7 +45,7 @@ class cSimObj : public btDefaultMotionState
 	virtual tMatrix3 GetLocalToWorldRotMat() const;
 
 	virtual void ApplyForce(const tVector& force);
-	virtual void ApplyForce(const tVector& force, const tVector& rel_pos);
+	virtual void ApplyForce(const tVector& force, const tVector& local_pos);
 	virtual void ApplyTorque(const tVector& torque);
 	virtual void ClearForces();