Changeset 10042 for code/branches/turretFS14/src/modules/objects/Turret.cc

Timestamp:

Apr 29, 2014, 11:16:16 AM (11 years ago)

Author:

muemart

Message:

Fix rotation if parent is already rotated. Everything hopefully now works as expected. It's a giant mess right now, so still have to clean it up.

File:

• code/branches/turretFS14/src/modules/objects/Turret.cc (modified) (1 diff)

code/branches/turretFS14/src/modules/objects/Turret.cc

@@ -113 +113 @@
         this->localAngularAcceleration_ = physicalBody_->getWorldTransform().getBasis() * this->localAngularAcceleration_;
 
+        //physics don't work when attached :(
+        //this->physicalBody_->applyTorque(physicalBody_->getWorldTransform().getBasis() * this->localAngularAcceleration_);
 
-        pitch(Degree(localAngularAcceleration_.x()/10000), WorldEntity::World);
-        yaw(Degree(localAngularAcceleration_.y()/10000), WorldEntity::World);
-        roll(Degree(localAngularAcceleration_.z()/10000), WorldEntity::World);
+        pitch(Degree(localAngularAcceleration_.x()*dt/1000), WorldEntity::World);
+        yaw(Degree(localAngularAcceleration_.y()*dt/1000), WorldEntity::World);
+        roll(Degree(localAngularAcceleration_.z()*dt/1000), WorldEntity::World);
 
         this->localAngularAcceleration_.setValue(0, 0, 0);