How to set collision position

[SFCBias]

Im using Ogre and ive managed to create system of loading entities with information about wut kinda of collisions to use for them. But when i debug the collisions are not lined up with the entities. Im not sure how to manually set the position and orientation of the body/colliison. Also im not using OgreNewt. I've tried taking the position/orientation from Ogre and converting to a float[16] matrix with the correct position but if i call NewtonBodySetMatrix it doesn't do anything to the body's position. Maybe im using the wrong function?

[JernejL]

NewtonBodySetMatrix definetly sets body orientation & position properly, ensure that the matrix you specify for it is a correct 4x4 matrix.

[Julio Jerez]

Ogre use a non conventional 4 x 3 matrix where newton uses a normal OpenGl/Direct3d 4 x 4 matrix

you can probably borrow the OgreNewt to convertion runtines.

[SFCBias]

That actually what i did using a a float matrix rather than Ogre's matrix.

[SFCBias]

Given the matrix, lets say 'm' for example, m[12] = x m[13] =y and m[14] = z coordinates. Im still quite lost on this, i use the OgreNewt conversion method here. I simple put the code into my class.

Code: Select all

void PhysX::PhysXTools::QuatPosToMatrix(const Ogre::Quaternion& _quat,
         const Ogre::Vector3 &pos, float* matrix)
   {
      // this takes a Quaternion and a Vector3 and creates a float array
      // which is more meaningful to Newton.

      Matrix3 rot;
      Vector3 xcol, ycol, zcol;

      Ogre::Quaternion quat(_quat);
      quat.normalise();
      quat.ToRotationMatrix(rot); // creates a 3x3 rotation matrix from the Quaternion.

      xcol = rot.GetColumn(0);
      ycol = rot.GetColumn(1);
      zcol = rot.GetColumn(2);

      // now fill the final matrix with the appropriate data:
      matrix[0] = xcol.x;
      matrix[1] = xcol.y;
      matrix[2] = xcol.z;
      matrix[3] = 0.0f;

      matrix[4] = ycol.x;
      matrix[5] = ycol.y;
      matrix[6] = ycol.z;
      matrix[7] = 0.0f;

      matrix[8] = zcol.x;
      matrix[9] = zcol.y;
      matrix[10] = zcol.z;
      matrix[11] = 0.0f;

      matrix[12] = pos.x;
      matrix[13] = pos.y;
      matrix[14] = pos.z;
      matrix[15] = 1.0;
   }