Merge pull request #200 from cwalther/landing

Fix direction-dependent landing behaviors

Sources/Plasma/CoreLib/hsQuat.cpp

@@ -65,14 +65,14 @@ hsQuat::hsQuat(float rad, const hsVector3* axis)
     fZ = axis->fZ*s;
 }
 
-hsQuat hsQuat::Inverse()
+hsQuat hsQuat::Inverse() const
 {
     hsQuat q2 = Conjugate();
     float msInv = 1.0f/q2.MagnitudeSquared();
     return (q2 * msInv);
 }
 
-hsPoint3 hsQuat::Rotate(const hsScalarTriple* v)
+hsPoint3 hsQuat::Rotate(const hsScalarTriple* v) const
 {
     hsQuat qInv = Inverse();
     hsQuat qVec(v->fX, v->fY, v->fZ, 0);

Sources/Plasma/CoreLib/hsQuat.h

@@ -71,7 +71,7 @@ public:
         { fX = X; fY = Y; fZ = Z; fW = W; }
     void GetAngleAxis(float *rad, hsVector3 *axis) const;
     void SetAngleAxis(const float rad, const hsVector3 &axis);
-    hsPoint3 Rotate(const hsScalarTriple* v);
+    hsPoint3 Rotate(const hsScalarTriple* v) const;
     
     // Access operators
     float& operator[](int i) { return (&fX)[i]; }     
@@ -94,7 +94,7 @@ public:
     float MagnitudeSquared();
     hsQuat Conjugate() const
         { return hsQuat(-fX,-fY,-fZ,fW); }
-    hsQuat Inverse();
+    hsQuat Inverse() const;
     // Binary operators
     hsQuat operator-(const hsQuat&) const;
     hsQuat operator+(const hsQuat&) const;

Sources/Plasma/PubUtilLib/plAvatar/plAvCallbackAction.cpp

@@ -137,6 +137,8 @@ void plWalkingController::RecalcVelocity(double timeNow, double timePrev, hsBool
         //             always (0,0,0) outside of the controller update proc
         fImpactTime = fWalkingStrategy->GetAirTime();
         fImpactVelocity = fController->GetAchievedLinearVelocity();
+        // convert orientation from subworld to avatar-local coordinates
+        fImpactVelocity = (hsVector3)fController->GetLocalRotation().Rotate(&fImpactVelocity);
         fClearImpact = false;
     }
     else

Sources/Plasma/PubUtilLib/plAvatar/plPhysicalControllerCore.h

@@ -147,6 +147,7 @@ public:
     virtual void CheckAndHandleAnyStateChanges();
     virtual void UpdateSubstepNonPhysical();
     virtual const hsPoint3& GetLocalPosition()=0;
+    const hsQuat& GetLocalRotation() { return fLocalRotation; }
     virtual void MoveActorToSim();
     
     virtual void OverrideAchievedVelocity(hsVector3 newAchievedVel)