Fix Rotation change detection triggering every frame
#272
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Jondolf
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Dec 27, 2023
# Objective In #272, the integrator was changed to update rotation only if `delta.w != 0.0`. However, in some cases, x, y, or z can be non-zero even if w is zero, like with `AngularVelocity(Vec3::X)`, and in those cases the rotation would incorrectly be ignored. ## Solution Make the condition stricter by also checking if x, y, and z are 0. Based on a quick test, this should also keep change detection working, which is what #272 was trying to address.
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Objective
Currently,
Rotationchanges are triggered every frame for non-sleeping dynamic bodies because of an incorrect quaternion comparison.Solution
Change the
delta != Quaternion::IDENTITYcheck to bedelta.w != 0.0inintegrator.rsline 231. Checkingwshould be enough because it's the angle of the rotation around the rotation axis.