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fix(wheelhub): eliminate rotational drift by reconstructing basis from fixed vertical reference #387

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fix(wheelhub): eliminate rotational drift by reconstructing basis from fixed vertical reference #387

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23 changes: 17 additions & 6 deletions src/features/wheelhub.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -34,21 +34,32 @@ void WheelHub::Init()
WheelHubData& data = m_VehData.Get(pVeh);
bool modified = false;

// Thanks to Ameer & SanVive team for their rotation fix
// Thanks to Ameer & SanVive team for their rotation fix (re-fixed to eliminate accumulated rotational drift)
auto updateRotation = [&](RwFrame* ori, RwFrame* tar, bool isLeft)
{
if (tar == nullptr) return;
if (ori == nullptr) return;
if (tar == nullptr || ori == nullptr) return;

RwV3d rightVec = ori->modelling.right;
if (isLeft) RwV3dNegate(&rightVec, &rightVec);
RwV3dNormalize(&rightVec, &rightVec);

MatrixUtil::ForceRightVector(&tar->modelling, rightVec);
RwV3dNegate(&tar->modelling.up, &tar->modelling.up);
const RwV3d refZ = {0.0f, 0.0f, 1.0f};

RwV3d fwd;
RwV3dCrossProduct(&fwd, &refZ, &rightVec);
RwV3dNormalize(&fwd, &fwd);

RwV3d up;
RwV3dCrossProduct(&up, &rightVec, &fwd);
RwV3dNormalize(&up, &up);

tar->modelling.right = rightVec;
tar->modelling.up = fwd;
tar->modelling.at = up;
tar->modelling.pos.z = ori->modelling.pos.z;

pVeh->UpdateRwFrame();
RwMatrixUpdate(&tar->modelling);
modified = true;
};

updateRotation(data.m_pWRF, data.m_pHRF, false);
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