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fix CMD_INIT_POSE+INIT_POSE_HAS_INITIAL_ORIENTATION,

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setWorldToBaseRot takes inverse orientation (need to remove that API!)
This commit is contained in:
Erwin Coumans
2016-08-02 09:30:33 -07:00
parent 30ae7f7514
commit 93db3d7ba6
1 changed files with 4 additions and 3 deletions
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7
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
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@@ -1836,11 +1836,12 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
clientCmd.m_initPoseArgs.m_hasInitialStateQ[6]); clientCmd.m_initPoseArgs.m_hasInitialStateQ[6]);
mb->setBaseOmega(btVector3(0,0,0)); mb->setBaseOmega(btVector3(0,0,0));
mb->setWorldToBaseRot(btQuaternion( btQuaternion invOrn(clientCmd.m_initPoseArgs.m_initialStateQ[3],
clientCmd.m_initPoseArgs.m_initialStateQ[3],
clientCmd.m_initPoseArgs.m_initialStateQ[4], clientCmd.m_initPoseArgs.m_initialStateQ[4],
clientCmd.m_initPoseArgs.m_initialStateQ[5], clientCmd.m_initPoseArgs.m_initialStateQ[5],
clientCmd.m_initPoseArgs.m_initialStateQ[6])); clientCmd.m_initPoseArgs.m_initialStateQ[6]);
mb->setWorldToBaseRot(invOrn.inverse());
} }
if (clientCmd.m_updateFlags & INIT_POSE_HAS_JOINT_STATE) if (clientCmd.m_updateFlags & INIT_POSE_HAS_JOINT_STATE)
{ {