Fix 3D rotation update in transform_to_position
#520
Merged
Conversation
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
Jondolf
added
C-Bug
coreh
added a commit
to coreh/avian
that referenced
this pull request
Dec 3, 2024
…ndolf#520)" This reverts commit d79bb13.
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
Add this suggestion to a batch that can be applied as a single commit.
This suggestion is invalid because no changes were made to the code.
Suggestions cannot be applied while the pull request is closed.
Suggestions cannot be applied while viewing a subset of changes.
Only one suggestion per line can be applied in a batch.
Add this suggestion to a batch that can be applied as a single commit.
Applying suggestions on deleted lines is not supported.
You must change the existing code in this line in order to create a valid suggestion.
Outdated suggestions cannot be applied.
This suggestion has been applied or marked resolved.
Suggestions cannot be applied from pending reviews.
Suggestions cannot be applied on multi-line comments.
Suggestions cannot be applied while the pull request is queued to merge.
Suggestion cannot be applied right now. Please check back later.
Objective
Fixes #516.
Rotation is currently updated incorrectly in 3D by
transform_to_position. It uses addition and subtraction instead of multiplication for quaternions. This causes clear desync betweenTransformrotation andRotationwhenSyncConfig::position_to_transformisfalseand theTransformis changed:2024-09-23.00-58-47.mp4
Solution
Fix the rotation update. We can also remove the normalization, because individual quaternion multiplications should remain normalized, assuming the inputs are normalized (and there aren't too many successive rotations).
Now, the desync is fixed:
2024-09-23.00-57-12.mp4