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Fix jME math API usage in physics joints #1253

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Fix jME math API usage in physics joints #1253

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7 changes: 4 additions & 3 deletions gama.extension.physics/src/gama/extension/physics/gaml/GamaJoint.java
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Original file line number Diff line number Diff line change
Expand Up @@ -271,10 +271,11 @@ private static double nativeSliderTranslation(final com.jme3.bullet.joints.Slide
com.jme3.math.Quaternion rotA = a.getPhysicsRotation(new com.jme3.math.Quaternion());
com.jme3.math.Quaternion rotB = b.getPhysicsRotation(new com.jme3.math.Quaternion());
com.jme3.math.Vector3f pointA = a.getPhysicsLocation(new com.jme3.math.Vector3f())
.add(rotA.mult(frameA.getTranslation()));
.add(rotA.toRotationMatrix().mult(frameA.getTranslation(), new com.jme3.math.Vector3f()));
com.jme3.math.Vector3f pointB = b.getPhysicsLocation(new com.jme3.math.Vector3f())
.add(rotB.mult(frameB.getTranslation()));
com.jme3.math.Vector3f axis = rotA.mult(frameA.getRotation()).mult(com.jme3.math.Vector3f.UNIT_X);
.add(rotB.toRotationMatrix().mult(frameB.getTranslation(), new com.jme3.math.Vector3f()));
com.jme3.math.Vector3f axis = rotA.mult(frameA.getRotation()).toRotationMatrix()
.mult(com.jme3.math.Vector3f.UNIT_X, new com.jme3.math.Vector3f());
return pointB.subtract(pointA).dot(axis);
}

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2 changes: 1 addition & 1 deletion ...xtension.physics/src/gama/extension/physics/native_version/NativeBulletPhysicalWorld.java
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Expand Up @@ -366,6 +366,6 @@ private Matrix3f jointFrame(final PhysicsRigidBody body, final Vector3f worldAxi
Matrix3f worldBasis = new Matrix3f();
worldBasis.fromAxes(worldAxis, second, third);
Matrix3f inverseRotation = body.getPhysicsRotation(new Quaternion()).inverse().toRotationMatrix();
return inverseRotation.mult(worldBasis);
return inverseRotation.mult(worldBasis, new Matrix3f());
}
}
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