vehicle calcCurrentPositionAndRotation not working

vehicle calcCurrentPositionAndRotation not working

Imagen de Hamed E.
Hamed E.
Mar, 25/12/2012 - 07:33

Hi

I cant get wheel position and rotation from this function.It trigger a breakpint at setting quaternion.

void CHavokPhysic::UpdateVehicleWheel(CVehicleSimulator* C,hkpVehicleInstance* pVehicle)
{
    
    hkVector4 pos;
    hkQuaternion rot; 
    
        
    for(int i=0;i<C->GetVehicle()->GetNumWheels();i++)
    {
            
        pVehicle->calcCurrentPositionAndRotation(pVehicle->getChassis(),pVehicle->m_suspension,i,pos,rot);
       
    }
    
}


call stack:
   FrontGame.exe!hkQuaternion::setAxisAngle(const hkVector4 & axis={...}, float angle=-0.00000000)  Line 15 + 0x2a bytes    C++
     FrontGame.exe!hkpVehicleInstance::calcCurrentPositionAndRotation(const hkpRigidBody * chassis=0x025d0580, const hkpVehicleSuspension * suspension=0x003e8390, int wheelNo=0, hkVector4 & posOut={...}, hkQuaternion & rotOut={...})  Line 1033    C++

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Imagen de Havok - Josh S.
Havok - Josh S.
Mié, 02/01/2013 - 11:48

Hi Hamed,

It looks like some of the parameters it is using to determine the wheel rotation are numerically invalid or inaccurate. Please check that pVehicle->m_wheelsInfo[i]->m_spinAxisChassisSpace is normalized (you can use hkVector4::isNormalized<3>()) and that pVehicle->m_data->calcCurrentPositionAndRotation is orthonormal (you can use hkRotation::isOrthonormal()).

cheers,
Josh

Josh S. Havok Developer Support Engineer www.havok.com
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Imagen de Sergey T.
Sergey T.
Jue, 14/02/2013 - 03:02

I have same issue, the function crashes if I switch to Left-Handed coordinate system...Please help...

I got following error:

Math\Quaternion\hkQuaternion.cpp(15): [0x34BD3B6E] Assert: al < hkReal(0.01f)Stack trace is:

y:\build\20120831_122323_pcxsperpetualkeycode\source\common\base\system\error\hkdefaulterror.cpp(135):'hkDefaultError::message'
y:\build\20120831_122323_pcxsperpetualkeycode\source\common\base\system\error\hkerror.cpp(56):'hkError::messageAssert'
y:\build\20120831_122323_pcxsperpetualkeycode\source\common\base\math\quaternion\hkquaternion.cpp(15):'hkQuaternion::setAxisAngle'
y:\build\20120831_122323_pcxsperpetualkeycode\source\physics\vehicle\hkpvehicleinstance.cpp(1033):'hkpVehicleInstance::calcCurrentPositionAndRotation'

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Imagen de Sergey T.
Sergey T.
Jue, 14/02/2013 - 03:33

This issue can be easyly reproduced in the Demos, 

1. open file <havok sdk dir>\Demo\Demos\DemoCommon\Utilities\VehicleApi\VehicleSetup.cpp

2. go to line 105 and change it from

data.m_chassisOrientation.setCols( hkVector4(0, 1, 0), hkVector4(1, 0, 0), hkVector4(0, 0, 1));

to

data.m_chassisOrientation.setCols( hkVector4(0, 1, 0), hkVector4(1, 0, 0), hkVector4(0, 0, -1));

Then run Car demo and you get a crash at calcCurrentPositionAndRotation call,

3. skip wheel updates and run - demo will run as expected but without wheels rendering...

Superior
Imagen de Havok - Josh S.
Havok - Josh S.
Mar, 19/02/2013 - 13:54

Hi Sergey,

The comment in VehicleSetup::setupVehicleData assumes that you are using a right-handed coordinate system.  What it really means is 'up', 'forward', and 'side', where side is left or right depending on your coordinate system.  Side is determined as

side = forward X up.

In the case of a left-handed system, this is left.  The runtime is crashing because the chassis orientation you set inverts the coordinate system, and is therefore not a valid rotation.  Please use

data.m_chassisOrientation.setCols( hkVector4(0, 1, 0), hkVector4(1, 0, 0), hkVector4(0, 0, 1));

and apply any coordinate system adjustment on rendering.  Please see \Source\Common\Base\Math\Util\hkConvertCoordinateSpace.h for utilities to do this.

cheers,

Josh

Josh S. Havok Developer Support Engineer www.havok.com
Superior

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