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zx1nM3fOZf_@)HLmF&(jYzurRY?teDMf4=|s+f|7J67kW;E}mjm3!I5NfYDEwi61w= zCjqp%3XBTN;Q~1T2X_x71gD#N3xXm4e(L=k40oETcMTZuG*fQ`Nst)+{nT6VPq^c! z-aTdgDV3t0i%RS`cMzSrrxuoob0SnV_Bht_A&s` zEC&ZUZqI`e&)rL}B!vor?0-RfaA@OHfrH2z*qCUUY8o0_F<2kGq&GL!KPa#Vlta7y z_GJ7I#{YJK8RkdD92^MjV-HdY@JuqI2^jViIRu)^4{e5^cvy4?@=`!~u*eBKlROE^ zgEfBu&#Kayf`t?|Yp`k2gUx6 zHDzXop$-)Oqk9m0|)gwDDgDfaXtcza8fwLAG{s!{+EM7zW1 zl!2GwW!WC?_Dy>>o-oD?d8@?g~jsB#1-6Bd<$wW$x3cbZ8ip(|JvPov!fP~zWf7xPEn z@!B2!fOp_=;V^&*qTS(VH36%gxbNYxfoXU6mVe;d(n0`$apFDyhd($D*b)11xZ^)> b^1e92x&7I#9-JQB15*g3G#YwN3iAI07eDVX literal 0 HcmV?d00001 From c7bc7281d8502094cfb6b1ded01500713d6e40ff Mon Sep 17 00:00:00 2001 From: Robin Engman Date: Fri, 31 Jan 2014 13:41:06 +0100 Subject: [PATCH 2/7] Prefix for "sinking" objects --- .../Implementation/PhysicsAPI_Impl.cpp | 25 +++++++++++-------- Code/GamePhysics/PhysicsAPI.h | 2 +- Code/GamePhysics/PhysicsStructs.h | 4 ++- Code/OysterPhysics3D/OysterCollision3D.cpp | 4 +-- Code/OysterPhysics3D/RigidBody.cpp | 7 +++++- 5 files changed, 26 insertions(+), 16 deletions(-) diff --git a/Code/GamePhysics/Implementation/PhysicsAPI_Impl.cpp b/Code/GamePhysics/Implementation/PhysicsAPI_Impl.cpp index 6f164810..30ced129 100644 --- a/Code/GamePhysics/Implementation/PhysicsAPI_Impl.cpp +++ b/Code/GamePhysics/Implementation/PhysicsAPI_Impl.cpp @@ -26,7 +26,7 @@ namespace ICustomBody::State protoState; proto->GetState( protoState ); ICustomBody::State deuterState; deuter->GetState( deuterState ); - Float4 protoG = protoState.GetLinearMomentum( worldPointOfContact.xyz ), + Float4 protoG = protoState.GetLinearMomentum(worldPointOfContact.xyz ), deuterG = deuterState.GetLinearMomentum( worldPointOfContact.xyz ); // calc from perspective of deuter @@ -198,24 +198,27 @@ void API_Impl::Update() proto = updateList.begin(); for( ; proto != updateList.end(); ++proto ) { - Float3 lM = state.GetLinearMomentum() + state.GetLinearImpulse(); + (*proto)->GetState( state ); + Float3 lM = state.GetLinearMomentum(); - if( lM.x < this->epsilon ) + //LinearAlgebra3D::InterpolateAxisYToNormal_UsingNlerp(state.SetOrientation(, Float4(state.GetGravityNormal(), 0.0f), 1.0f); + + + if( abs(lM.x) < this->epsilon ) { - state.SetLinearMomentum( Float3(0, lM.y, lM.z) ); - state.SetLinearImpulse( Float3(0, lM.y, lM.z) ); + state.linearMomentum.x = 0; } - if( lM.y < this->epsilon ) + if( abs(lM.y) < this->epsilon ) { - state.SetLinearMomentum( Float3(lM.x, 0, lM.z) ); - state.SetLinearImpulse( Float3(lM.x, 0, lM.z) ); + state.linearMomentum.y = 0; } - if( lM.z < this->epsilon ) + if( abs(lM.z) < this->epsilon ) { - state.SetLinearMomentum( Float3(lM.x, lM.y, 0) ); - state.SetLinearImpulse( Float3(lM.x, lM.y, 0) ); + state.linearMomentum.z = 0; } + (*proto)->SetState( state ); + switch( (*proto)->Update(this->updateFrameLength) ) { case UpdateState_altered: diff --git a/Code/GamePhysics/PhysicsAPI.h b/Code/GamePhysics/PhysicsAPI.h index 78b65f5e..080b8d30 100644 --- a/Code/GamePhysics/PhysicsAPI.h +++ b/Code/GamePhysics/PhysicsAPI.h @@ -34,7 +34,7 @@ namespace Oyster namespace Constant { const float gravity_constant = (const float)6.67284e-11; //!< The _big_G_! ( N(m/kg)^2 ) Used in real gravityforcefields. - const float epsilon = (const float)1.0e-7; + const float epsilon = (const float)1.0e-3; } class PHYSICS_DLL_USAGE API diff --git a/Code/GamePhysics/PhysicsStructs.h b/Code/GamePhysics/PhysicsStructs.h index 00c07b2d..aef157a8 100644 --- a/Code/GamePhysics/PhysicsStructs.h +++ b/Code/GamePhysics/PhysicsStructs.h @@ -115,11 +115,13 @@ namespace Oyster { namespace Physics bool IsDisturbed() const; bool IsForwarded() const; + ::Oyster::Math::Float3 linearMomentum; + private: ::Oyster::Math::Float mass, restitutionCoeff, staticFrictionCoeff, kineticFrictionCoeff; ::Oyster::Physics3D::MomentOfInertia inertiaTensor; ::Oyster::Math::Float3 reach, centerPos, angularAxis; - ::Oyster::Math::Float3 linearMomentum, angularMomentum; + ::Oyster::Math::Float3 angularMomentum; ::Oyster::Math::Float3 linearImpulse, angularImpulse; ::Oyster::Math::Float3 deltaPos, deltaAxis; // Forwarding data sum ::Oyster::Math::Float3 gravityNormal; diff --git a/Code/OysterPhysics3D/OysterCollision3D.cpp b/Code/OysterPhysics3D/OysterCollision3D.cpp index 169b5add..89b3af8a 100644 --- a/Code/OysterPhysics3D/OysterCollision3D.cpp +++ b/Code/OysterPhysics3D/OysterCollision3D.cpp @@ -784,8 +784,8 @@ namespace Oyster { namespace Collision3D { namespace Utility if( Intersect(box, sphere) ) { Float distance; - Ray ray( box.center, sphere.center - box.center ); - + Ray ray( box.center, (sphere.center - box.center).Normalize() ); + Intersect( sphere, ray, distance ); worldPointOfContact = ray.origin + ray.direction*distance; return true; diff --git a/Code/OysterPhysics3D/RigidBody.cpp b/Code/OysterPhysics3D/RigidBody.cpp index 0c60c597..f053e8dd 100644 --- a/Code/OysterPhysics3D/RigidBody.cpp +++ b/Code/OysterPhysics3D/RigidBody.cpp @@ -50,7 +50,12 @@ void RigidBody::Update_LeapFrog( Float updateFrameLength ) // updating the linear // ds = dt * Formula::LinearVelocity( m, avg_G ) = dt * avg_G / m = (dt / m) * avg_G - this->centerPos += ( updateFrameLength / this->mass ) * AverageWithDelta( this->momentum_Linear, this->impulse_Linear ); + Float3 deltaPos = ( updateFrameLength / this->mass ) * AverageWithDelta( this->momentum_Linear, this->impulse_Linear ); + if( deltaPos.GetLength() < 0.001f ) + { + deltaPos = Float3::null; + } + this->centerPos += deltaPos; // updating the angular // dO = dt * Formula::AngularVelocity( (RI)^-1, avg_H ) = dt * (RI)^-1 * avg_H From 190f7e28829dfd35e857eb18ae50ef31b4be12a8 Mon Sep 17 00:00:00 2001 From: Dander7BD Date: Fri, 31 Jan 2014 13:42:17 +0100 Subject: [PATCH 3/7] SnapAngularAxis introduced --- Code/OysterMath/LinearMath.h | 15 +++++++++++++++ Code/OysterMath/OysterMath.h | 1 + 2 files changed, 16 insertions(+) diff --git a/Code/OysterMath/LinearMath.h b/Code/OysterMath/LinearMath.h index 50bcd36b..2fa66e26 100644 --- a/Code/OysterMath/LinearMath.h +++ b/Code/OysterMath/LinearMath.h @@ -325,6 +325,12 @@ namespace LinearAlgebra2D namespace LinearAlgebra3D { + template + inline ::LinearAlgebra::Vector3 WorldAxisOf( const ::LinearAlgebra::Quaternion &rotation, const ::LinearAlgebra::Vector3 &localAxis ) + { + return (rotation*localAxis*rotation.GetConjugate()).imaginary; + } + // All Matrix to AngularAxis conversions here is incorrect //template //inline ::LinearAlgebra::Vector4 AngularAxis( const ::LinearAlgebra::Matrix3x3 &rotationMatrix ) @@ -741,6 +747,15 @@ namespace LinearAlgebra3D inline ::LinearAlgebra::Vector4 NormalProjection( const ::LinearAlgebra::Vector4 &vector, const ::LinearAlgebra::Vector4 &normalizedAxis ) { return normalizedAxis * ( vector.Dot(normalizedAxis) ); } + template + ::LinearAlgebra::Vector3 & SnapAngularAxis( ::LinearAlgebra::Vector4 &startAngularAxis, const ::LinearAlgebra::Vector4 &localStartNormal, const ::LinearAlgebra::Vector4 &worldEndNormal, ::LinearAlgebra::Vector3 &targetMem = ::LinearAlgebra::Vector3() ) + { + ::LinearAlgebra::Vector4 worldStartNormal( WorldAxisOf(Rotation(startAngularAxis), localStartNormal), (ScalarType)0 ); + targetMem = worldStartNormal.xyz.Cross(worldEndNormal.xyz); + targetMem *= (ScalarType)::std::asin( worldStartNormal.Dot(worldEndNormal) ); + return targetMem; + } + template ::LinearAlgebra::Matrix4x4 & SnapAxisYToNormal_UsingNlerp( ::LinearAlgebra::Matrix4x4 &rotation, const ::LinearAlgebra::Vector4 &normalizedAxis ) { diff --git a/Code/OysterMath/OysterMath.h b/Code/OysterMath/OysterMath.h index 5970face..7e123183 100644 --- a/Code/OysterMath/OysterMath.h +++ b/Code/OysterMath/OysterMath.h @@ -324,6 +324,7 @@ namespace Oyster { namespace Math3D //! Oyster's native math library specialized using ::LinearAlgebra3D::InterpolateAxisYToNormal_UsingNlerp; using ::LinearAlgebra3D::InterpolateOrientation_UsingNonRigidNlerp; using ::LinearAlgebra3D::InterpolateOrientation_UsingSlerp; + using ::LinearAlgebra3D::SnapAngularAxis; } } #endif \ No newline at end of file From ac635ccaef70d5fd1229141ca8c5a608bbfd1305 Mon Sep 17 00:00:00 2001 From: Dander7BD Date: Fri, 31 Jan 2014 13:47:40 +0100 Subject: [PATCH 4/7] SnapAngularAxis fix --- Code/OysterMath/LinearMath.h | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/Code/OysterMath/LinearMath.h b/Code/OysterMath/LinearMath.h index 2fa66e26..0ec46b5c 100644 --- a/Code/OysterMath/LinearMath.h +++ b/Code/OysterMath/LinearMath.h @@ -748,12 +748,12 @@ namespace LinearAlgebra3D { return normalizedAxis * ( vector.Dot(normalizedAxis) ); } template - ::LinearAlgebra::Vector3 & SnapAngularAxis( ::LinearAlgebra::Vector4 &startAngularAxis, const ::LinearAlgebra::Vector4 &localStartNormal, const ::LinearAlgebra::Vector4 &worldEndNormal, ::LinearAlgebra::Vector3 &targetMem = ::LinearAlgebra::Vector3() ) + ::LinearAlgebra::Vector4 & SnapAngularAxis( ::LinearAlgebra::Vector4 &startAngularAxis, const ::LinearAlgebra::Vector4 &localStartNormal, const ::LinearAlgebra::Vector4 &worldEndNormal, ::LinearAlgebra::Vector4 &targetMem = ::LinearAlgebra::Vector4() ) { ::LinearAlgebra::Vector4 worldStartNormal( WorldAxisOf(Rotation(startAngularAxis), localStartNormal), (ScalarType)0 ); - targetMem = worldStartNormal.xyz.Cross(worldEndNormal.xyz); + targetMem = ::LinearAlgebra::Vector4( worldStartNormal.xyz.Cross(worldEndNormal.xyz), (ScalarType)0); targetMem *= (ScalarType)::std::asin( worldStartNormal.Dot(worldEndNormal) ); - return targetMem; + return targetMem += startAngularAxis; } template From 7a62121fa0f8ea5d0fbdf125f47276100282141c Mon Sep 17 00:00:00 2001 From: Dander7BD Date: Fri, 31 Jan 2014 13:49:09 +0100 Subject: [PATCH 5/7] SnapAngularAxis fix accidently used asin instead of acos --- Code/OysterMath/LinearMath.h | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/Code/OysterMath/LinearMath.h b/Code/OysterMath/LinearMath.h index 0ec46b5c..9ea4bf42 100644 --- a/Code/OysterMath/LinearMath.h +++ b/Code/OysterMath/LinearMath.h @@ -752,7 +752,7 @@ namespace LinearAlgebra3D { ::LinearAlgebra::Vector4 worldStartNormal( WorldAxisOf(Rotation(startAngularAxis), localStartNormal), (ScalarType)0 ); targetMem = ::LinearAlgebra::Vector4( worldStartNormal.xyz.Cross(worldEndNormal.xyz), (ScalarType)0); - targetMem *= (ScalarType)::std::asin( worldStartNormal.Dot(worldEndNormal) ); + targetMem *= (ScalarType)::std::acos( worldStartNormal.Dot(worldEndNormal) ); return targetMem += startAngularAxis; } From 79872a45eeb1a0bc64213f185a84e92e82379578 Mon Sep 17 00:00:00 2001 From: Dander7BD Date: Fri, 31 Jan 2014 14:27:33 +0100 Subject: [PATCH 6/7] SnapAngularAxis fix + added overload compilation error fix + Float3 version --- Code/OysterMath/LinearMath.h | 10 +++++++++- 1 file changed, 9 insertions(+), 1 deletion(-) diff --git a/Code/OysterMath/LinearMath.h b/Code/OysterMath/LinearMath.h index 9ea4bf42..7874cb52 100644 --- a/Code/OysterMath/LinearMath.h +++ b/Code/OysterMath/LinearMath.h @@ -750,12 +750,20 @@ namespace LinearAlgebra3D template ::LinearAlgebra::Vector4 & SnapAngularAxis( ::LinearAlgebra::Vector4 &startAngularAxis, const ::LinearAlgebra::Vector4 &localStartNormal, const ::LinearAlgebra::Vector4 &worldEndNormal, ::LinearAlgebra::Vector4 &targetMem = ::LinearAlgebra::Vector4() ) { - ::LinearAlgebra::Vector4 worldStartNormal( WorldAxisOf(Rotation(startAngularAxis), localStartNormal), (ScalarType)0 ); + ::LinearAlgebra::Vector4 worldStartNormal( WorldAxisOf(Rotation(startAngularAxis.xyz), localStartNormal), (ScalarType)0 ); targetMem = ::LinearAlgebra::Vector4( worldStartNormal.xyz.Cross(worldEndNormal.xyz), (ScalarType)0); targetMem *= (ScalarType)::std::acos( worldStartNormal.Dot(worldEndNormal) ); return targetMem += startAngularAxis; } + template + ::LinearAlgebra::Vector3 & SnapAngularAxis( ::LinearAlgebra::Vector3 &startAngularAxis, const ::LinearAlgebra::Vector3 &localStartNormal, const ::LinearAlgebra::Vector3 &worldEndNormal, ::LinearAlgebra::Vector3 &targetMem = ::LinearAlgebra::Vector3() ) + { + return targetMem = SnapAngularAxis( ::LinearAlgebra::Vector4(startAngularAxis, (ScalarType)0), + ::LinearAlgebra::Vector4(localStartNormal, (ScalarType)0), + ::LinearAlgebra::Vector4(worldEndNormal, (ScalarType)0), ).xyz; + } + template ::LinearAlgebra::Matrix4x4 & SnapAxisYToNormal_UsingNlerp( ::LinearAlgebra::Matrix4x4 &rotation, const ::LinearAlgebra::Vector4 &normalizedAxis ) { From 22d0722dfa718b46c33d090daff9098b31588022 Mon Sep 17 00:00:00 2001 From: Dander7BD Date: Fri, 31 Jan 2014 14:29:49 +0100 Subject: [PATCH 7/7] SnapAngularFix compilation fix forgot to remove a copy pasted comma --- Code/OysterMath/LinearMath.h | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/Code/OysterMath/LinearMath.h b/Code/OysterMath/LinearMath.h index 7874cb52..0a4611b1 100644 --- a/Code/OysterMath/LinearMath.h +++ b/Code/OysterMath/LinearMath.h @@ -761,7 +761,7 @@ namespace LinearAlgebra3D { return targetMem = SnapAngularAxis( ::LinearAlgebra::Vector4(startAngularAxis, (ScalarType)0), ::LinearAlgebra::Vector4(localStartNormal, (ScalarType)0), - ::LinearAlgebra::Vector4(worldEndNormal, (ScalarType)0), ).xyz; + ::LinearAlgebra::Vector4(worldEndNormal, (ScalarType)0) ).xyz; } template