BulletIntegration: fix Matrix3x3 conversion along with unit tests #34
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Bullet matrices are row-major, Magnum matrices are column-major. The unit test did not account for this and tested the wrong behavior. The test for Matrix4x4 seems fine, haven't looked in detail, though.
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Hi, thanks a lot for reporting and fixing this! Interesting (and frightening) that this hasn't been noticed yet, huh. Looking into Bullet sources at how the Matrix4 conversion is done, yeah this was definitely wrong. @Squareys were you aware of this? Merged your commit in 67059e5 (without the debug prints) and then, in 13356bf, to be really sure, updated the 3x3 test to now also convert the matrix to a quaternion and check that it indeed produces a correct value. |
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Ah, sorry, the debug stuff should not have been in there, that slipped through. Thanks for checking and merging :-) |
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Bullet matrices are row-major, Magnum matrices are column-major.
The
Matrix3x3unit test did not account for this and tested the wrong behavior.The test for
Matrix4x4seems fine, haven't looked in detail, though.This probably hasn't been noticed before because
BulletIntegration::MotionStateuses theMatrix3x3conversion only in the Magnum -> Bullet direction, and this is typically only done once duringbtRigidBodyinitialization. The bullet example in magnum-examples uses identity rotation at initialization...