Endertom/FCG_VisualizzatoreCamminata
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Miglioramento precisione rotazioni

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Endert0m
2026-05-31 12:47:46 +02:00
parent 57412060b5
commit 28abf04232
12 changed files with 29 additions and 50 deletions
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src/joints/methods/pivot_joint_class.cpp
+5 -5
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@@ -3,9 +3,9 @@
#define ZERO_INT 0.00001
void PivotJoint::rotate(unsigned int id){
rb::Vector3_s fRot = father->body.getRot();
rb::Vector3 fRot = father->body.getRot();
rb::Vector3 fPos = father->body.getPos();
rb::Vector3_s cRot = childs[id]->body.getRot();
rb::Vector3 cRot = childs[id]->body.getRot();
//// sposto l'origine passivamente su tutti gli assi ////
@@ -75,7 +75,7 @@ PivotJoint::PivotJoint(PieceInterface* father,std::vector<PieceInterface*> child
this->childs = childs;
this->father = father;
rb::Vector3 fCoords = father->globalPos + father->body.getPos();
rb::Vector3_s fRot = father->body.getRot();
rb::Vector3 fRot = father->body.getRot();
pivot = pivotPoint;
rb::Vector3 pivotCenter = father->body.getPos() + pivot;
@@ -83,7 +83,7 @@ PivotJoint::PivotJoint(PieceInterface* father,std::vector<PieceInterface*> child
/*
float sign = pivot[2] >= 0 ? 1 : -1;
float r = sqrt(pow(pivot[0],2)+pow(pivot[2],2));
rotOffset.push_back( rb::Vector3_s{0,0,_Float16( acos(sign * pivot[0]/r) )} );
rotOffset.push_back( rb::Vector3{0,0,_Float16( acos(sign * pivot[0]/r) )} );
*/
@@ -97,7 +97,7 @@ PivotJoint::PivotJoint(PieceInterface* father,std::vector<PieceInterface*> child
/*
float r = sqrt(pow(tmpCoords[0],2)+pow(tmpCoords[2],2));
oldCRot.push_back( rb::Vector3_s{0,0,_Float16( acos(tmpCoords[0]/r) )} );
oldCRot.push_back( rb::Vector3{0,0,_Float16( acos(tmpCoords[0]/r) )} );
*/
oldCRot.push_back(c->body.getRot());