: chunk_pos(0)
, block_pos(0.0f)
, velocity(0.0f)
-, orient(1.0f, 0.0f, 0.0f, 0.0f)
-, ang_vel(0.0f) {
+, orient(1.0f, 0.0f, 0.0f, 0.0f) {
}
}
}
-namespace {
-
-glm::quat delta_rot(const glm::vec3 &av, float dt) {
- glm::vec3 half(av * dt * 0.5f);
- float mag = length(half);
- if (mag > 0.0f) {
- float smag = std::sin(mag) / mag;
- return glm::quat(std::cos(mag), half * smag);
- } else {
- return glm::quat(1.0f, 0.0f, 0.0f, 0.0f);
- }
-}
-
-}
-
void World::Update(Entity &entity, float dt) {
EntityState state(entity.GetState());
constexpr float sixth = 1.0f / 6.0f;
f.position = sixth * ((a.position + 2.0f * (b.position + c.position)) + d.position);
f.velocity = sixth * ((a.velocity + 2.0f * (b.velocity + c.velocity)) + d.velocity);
- f.orient = sixth * ((a.orient + 2.0f * (b.orient + c.orient)) + d.orient);
state.block_pos += f.position * dt;
state.velocity += f.velocity * dt;
- state.orient = delta_rot(f.orient, dt) * state.orient;
state.AdjustPosition();
entity.SetState(state);
EntityState next(cur);
next.block_pos += delta.position * dt;
next.velocity += delta.velocity * dt;
- next.orient = delta_rot(cur.ang_vel, dt) * cur.orient;
next.AdjustPosition();
EntityDerivative out;