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Merge remote-tracking branch 'origin/Physics' into Sprint3

This commit is contained in:
Dander7BD 2014-01-20 17:08:52 +01:00
parent 0a41d20099 0107745c7e
commit 24a6e7478e
3 changed files with 8 additions and 5 deletions
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2
Code/GamePhysics/Implementation/SimpleRigidBody.cpp
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@ -116,7 +116,7 @@ SimpleRigidBody::State & SimpleRigidBody::GetState( SimpleRigidBody::State &targ
void SimpleRigidBody::SetState( const SimpleRigidBody::State &state ) void SimpleRigidBody::SetState( const SimpleRigidBody::State &state )
{ {
this->rigid.centerPos = state.GetCenterPosition(); this->rigid.centerPos = state.GetCenterPosition();
this->rigid.SetRotation( state.GetRotation() ); //this->rigid.SetRotation( state.GetRotation() ); //! HACK: @todo Rotation temporary disabled
this->rigid.boundingReach = state.GetReach(); this->rigid.boundingReach = state.GetReach();
this->rigid.momentum_Linear = state.GetLinearMomentum(); this->rigid.momentum_Linear = state.GetLinearMomentum();
this->rigid.momentum_Angular = state.GetAngularMomentum(); this->rigid.momentum_Angular = state.GetAngularMomentum();

2
Code/GamePhysics/Implementation/SphericalRigidBody.cpp
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@ -84,7 +84,7 @@ SphericalRigidBody::State & SphericalRigidBody::GetState( SphericalRigidBody::St
void SphericalRigidBody::SetState( const SphericalRigidBody::State &state ) void SphericalRigidBody::SetState( const SphericalRigidBody::State &state )
{ {
this->rigid.centerPos = state.GetCenterPosition(); this->rigid.centerPos = state.GetCenterPosition();
this->rigid.SetRotation( state.GetRotation() ); //this->rigid.SetRotation( state.GetRotation() ); //! HACK: @todo Rotation temporary disabled
this->rigid.boundingReach = state.GetReach(); this->rigid.boundingReach = state.GetReach();
this->rigid.momentum_Linear = state.GetLinearMomentum(); this->rigid.momentum_Linear = state.GetLinearMomentum();
this->rigid.momentum_Angular = state.GetAngularMomentum(); this->rigid.momentum_Angular = state.GetAngularMomentum();

9
Code/OysterPhysics3D/RigidBody.cpp
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@ -58,13 +58,16 @@ void RigidBody::Update_LeapFrog( Float updateFrameLength )
Float4x4 wMomentOfInertiaTensor = TransformMatrix( rotationMatrix, this->momentOfInertiaTensor ); // RI Float4x4 wMomentOfInertiaTensor = TransformMatrix( rotationMatrix, this->momentOfInertiaTensor ); // RI
// dO = dt * Formula::AngularVelocity( (RI)^-1, avg_H ) = dt * (RI)^-1 * avg_H // dO = dt * Formula::AngularVelocity( (RI)^-1, avg_H ) = dt * (RI)^-1 * avg_H
this->axis += Radian( Formula::AngularVelocity(wMomentOfInertiaTensor.GetInverse(), AverageWithDelta(this->momentum_Angular, this->impulse_Angular)) );
this->rotation = Rotation( this->axis ); //! HACK: @todo Rotation temporary disabled
//this->axis += Radian( Formula::AngularVelocity(wMomentOfInertiaTensor.GetInverse(), AverageWithDelta(this->momentum_Angular, this->impulse_Angular)) );
//this->rotation = Rotation( this->axis );
// update momentums and clear impulse_Linear and impulse_Angular // update momentums and clear impulse_Linear and impulse_Angular
this->momentum_Linear += this->impulse_Linear; this->momentum_Linear += this->impulse_Linear;
this->impulse_Linear = Float4::null; this->impulse_Linear = Float4::null;
this->momentum_Angular += this->impulse_Angular;
//this->momentum_Angular += this->impulse_Angular; //! HACK: @todo Rotation temporary disabled
this->impulse_Angular = Float4::null; this->impulse_Angular = Float4::null;
} }