Fix rotation

.vscode/c_cpp_properties.json

@@ -13,7 +13,6 @@
                 "JPH_DEBUG_RENDERER",
                 "VULKAN_HPP_NO_STRUCT_CONSTRUCTORS"
             ],
-            "windowsSdkVersion": "10.0.22000.0",
             "compilerPath": "cl.exe",
             "cStandard": "c17",
             "intelliSenseMode": "windows-msvc-x64"

src/client/Application.cpp

@@ -625,7 +625,7 @@ void App::drawDebugForSelectedEntity(entt::entity selectedEntity, FrameInfo& fra
 		if (currentGizmoOperation == ImGuizmo::TRANSLATE && drawImGuizmo(&bodyTransform, &delta)) {
 			physicsWorld->setPosition(body->bodyID, delta * glm::vec4(body->position, 1.f));
 		} else if (currentGizmoOperation == ImGuizmo::ROTATE && drawImGuizmo(&bodyTransform, &delta)) {
-			physicsWorld->setRotation(body->bodyID, glm::toQuat(delta) * body->rotation);
+			physicsWorld->setRotation(body->bodyID, body->rotation * glm::toQuat(delta));
 		} else if (currentGizmoOperation == ImGuizmo::SCALE &&
 				   drawImGuizmo(&bodyTransform, &delta)) {  // TODO: Broken and crashes.
 			physicsWorld->setScale(body->bodyID, delta * glm::vec4(body->scale, 1.f));

src/engine/NetworkServerSystem.cpp

@@ -84,10 +84,10 @@ void NetworkServerSystem::update(entt::registry &registry, PhysicsWorld *world,
 					message->position.y = body.position.y;
 					message->position.z = body.position.z;
 
+					message->rotation.w = body.rotation.w;
 					message->rotation.x = body.rotation.x;
 					message->rotation.y = body.rotation.y;
 					message->rotation.z = body.rotation.z;
-					message->rotation.w = body.rotation.w;
 
 					message->linearVelocity.x = body.linearVelocity.x;
 					message->linearVelocity.y = body.linearVelocity.y;

src/engine/Physics.cpp

@@ -757,7 +757,7 @@ void PhysicsWorld::setPosition(IDType bodyID, glm::vec3 position) {
 }
 
 void PhysicsWorld::setRotation(IDType bodyID, glm::quat rotation) {
-	bodyInterface->SetRotation(bodyID, Quat(rotation.w, rotation.x, rotation.y, rotation.z), EActivation::Activate);
+	bodyInterface->SetRotation(bodyID, Quat(rotation.x, rotation.y, rotation.z, rotation.w), EActivation::Activate);
 }
 
 void PhysicsWorld::setScale(IDType bodyID, glm::vec3 scale) {

src/engine/networking_handlers/PhysicsHandler.cpp

@@ -7,15 +7,15 @@ glm::vec3 fromFloat3(float3 v3) {
 }
 
 glm::quat fromFloat4(float4 v4) {
-	return glm::quat(v4.x, v4.y, v4.z, v4.w);
+	return glm::quat(v4.w, v4.x, v4.y, v4.z);
 }
 
 const void PhysicsHandler::internalHandle(entt::registry& registry, PhysicsWorld* world,
 										  std::unordered_map<NetworkID, entt::entity>& idToEntity,
 										  PhysicsState* state) {
 	auto entity = idToEntity[state->networkID];
 	auto body = registry.try_get<PhysicsBody>(entity);
-	
+
 	if (body && state->isActive) {
 		world->setPosition(body->bodyID, fromFloat3(state->position));
 		world->setLinearVelocity(body->bodyID, fromFloat3(state->linearVelocity));

src/shared/SharedServerSettings.hpp

@@ -16,10 +16,10 @@ struct float3 {
 };
 
 struct float4 {
+	float w;
 	float x;
 	float y;
 	float z;
-	float w;
 };
 
 struct PhysicsState : public Message {
@@ -38,7 +38,7 @@ struct PhysicsState : public Message {
 		serialize_bits(stream, tick, 32);
 		serialize_bits(stream, networkID, 32);
 		serialize_bool(stream, isActive);
-		
+
 		if (isActive) {
 			serialize_float(stream, position.x);
 			serialize_float(stream, position.y);