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Tangiential formula fixes

This commit is contained in:
Dander7BD 2014-01-14 10:34:22 +01:00
parent f2c6cc5306
commit 34dc27655b
2 changed files with 12 additions and 16 deletions
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20
Code/GamePhysics/PhysicsStructs-Impl.h
View File

@ -2,6 +2,7 @@
#define PHYSICS_STRUCTS_IMPL_H #define PHYSICS_STRUCTS_IMPL_H
#include "PhysicsStructs.h" #include "PhysicsStructs.h"
#include "OysterPhysics3D.h"
namespace Oyster namespace Oyster
{ {
@ -146,10 +147,7 @@ namespace Oyster
inline ::Oyster::Math::Float4 CustomBodyState::GetLinearMomentum( const ::Oyster::Math::Float4 &at ) const inline ::Oyster::Math::Float4 CustomBodyState::GetLinearMomentum( const ::Oyster::Math::Float4 &at ) const
{ {
//return this->linearMomentum + ::Oyster::Physics3D::Formula::TangentialLinearMomentum( this->angularMomentum, at - this->centerPos ); // C3083 error? return this->linearMomentum + ::Oyster::Physics3D::Formula::TangentialLinearMomentum( this->angularMomentum, at - this->centerPos );
::Oyster::Math::Float4 offset = at - this->centerPos;
return this->linearMomentum + ( ::Oyster::Math::Float4(this->angularMomentum.xyz.Cross(offset.xyz), 0.0f) /= offset.Dot(offset) );
} }
inline const ::Oyster::Math::Float4 & CustomBodyState::GetAngularMomentum() const inline const ::Oyster::Math::Float4 & CustomBodyState::GetAngularMomentum() const
@ -214,11 +212,9 @@ namespace Oyster
if( tensor.GetDeterminant() != 0.0f ) if( tensor.GetDeterminant() != 0.0f )
{ // sanity block! { // sanity block!
::Oyster::Math::Float4x4 rotation = ::Oyster::Math3D::RotationMatrix(this->angularAxis.xyz); ::Oyster::Math::Float4x4 rotation = ::Oyster::Math3D::RotationMatrix(this->angularAxis.xyz);
//::Oyster::Math::Float4 w = ::Oyster::Physics3D::Formula::AngularVelocity( (rotation * this->inertiaTensor).GetInverse(), this->angularMomentum ); // C3083 error? ::Oyster::Math::Float4 w = ::Oyster::Physics3D::Formula::AngularVelocity( (rotation * this->inertiaTensor).GetInverse(), this->angularMomentum );
::Oyster::Math::Float4 w = (rotation * this->inertiaTensor).GetInverse() * this->angularMomentum;
this->inertiaTensor = tensor; this->inertiaTensor = tensor;
//this->angularMomentum = ::Oyster::Physics3D::Formula::AngularMomentum( rotation * tensor, w ); // C3083 error? this->angularMomentum = ::Oyster::Physics3D::Formula::AngularMomentum( rotation * tensor, w );
this->angularMomentum = rotation * tensor * w;
} }
} }
@ -307,10 +303,10 @@ namespace Oyster
inline void CustomBodyState::ApplyImpulse( const ::Oyster::Math::Float4 &j, const ::Oyster::Math::Float4 &at, const ::Oyster::Math::Float4 &normal ) inline void CustomBodyState::ApplyImpulse( const ::Oyster::Math::Float4 &j, const ::Oyster::Math::Float4 &at, const ::Oyster::Math::Float4 &normal )
{ {
//::Oyster::Math::Float4 tangentialImpulse = ::Oyster::Physics3D::Formula::AngularMomentum( j, at - this->centerPos ); // C3083 error? ::Oyster::Math::Float4 offset = at - this->centerPos;
::Oyster::Math::Float4 tangentialImpulse = ::Oyster::Math::Float4( (at - this->centerPos).xyz.Cross(j.xyz), 0.0f ); ::Oyster::Math::Float4 deltaAngularImpulse = ::Oyster::Physics3D::Formula::AngularMomentum( j, offset );
this->linearImpulse += j - tangentialImpulse; this->linearImpulse += j - ::Oyster::Physics3D::Formula::TangentialLinearMomentum( deltaAngularImpulse, offset );
this->angularImpulse += tangentialImpulse; this->angularImpulse += deltaAngularImpulse;
this->isDisturbed = true; this->isDisturbed = true;
} }

8
Code/OysterPhysics3D/OysterPhysics3D.h
View File

@ -126,7 +126,7 @@ namespace Oyster { namespace Physics3D
******************************************************************/ ******************************************************************/
inline ::Oyster::Math::Float3 TangentialLinearMomentum( const ::Oyster::Math::Float3 &angularMomentum, const ::Oyster::Math::Float3 &worldOffset ) inline ::Oyster::Math::Float3 TangentialLinearMomentum( const ::Oyster::Math::Float3 &angularMomentum, const ::Oyster::Math::Float3 &worldOffset )
{ {
return angularMomentum.Cross( worldOffset ); return angularMomentum.Cross( worldOffset ) /= worldOffset.Dot( worldOffset );
} }
/****************************************************************** /******************************************************************
@ -135,7 +135,7 @@ namespace Oyster { namespace Physics3D
******************************************************************/ ******************************************************************/
inline ::Oyster::Math::Float3 TangentialLinearMomentum( const ::Oyster::Math::Float4x4 &momentOfInertia, const ::Oyster::Math::Float3 &angularVelocity, const ::Oyster::Math::Float3 &worldOffset ) inline ::Oyster::Math::Float3 TangentialLinearMomentum( const ::Oyster::Math::Float4x4 &momentOfInertia, const ::Oyster::Math::Float3 &angularVelocity, const ::Oyster::Math::Float3 &worldOffset )
{ {
return TangentialLinearMomentum( AngularMomentum(momentOfInertia, angularVelocity), worldOffset ); return TangentialLinearMomentum( AngularMomentum(momentOfInertia, angularVelocity), worldOffset ) /= worldOffset.Dot( worldOffset );
} }
/****************************************************************** /******************************************************************
@ -144,7 +144,7 @@ namespace Oyster { namespace Physics3D
******************************************************************/ ******************************************************************/
inline ::Oyster::Math::Float3 TangentialImpulseForce( const ::Oyster::Math::Float3 &impulseTorque, const ::Oyster::Math::Float3 &worldOffset ) inline ::Oyster::Math::Float3 TangentialImpulseForce( const ::Oyster::Math::Float3 &impulseTorque, const ::Oyster::Math::Float3 &worldOffset )
{ {
return impulseTorque.Cross( worldOffset ); return impulseTorque.Cross( worldOffset ) /= worldOffset.Dot( worldOffset );
} }
/****************************************************************** /******************************************************************
@ -207,7 +207,7 @@ namespace Oyster { namespace Physics3D
******************************************************************/ ******************************************************************/
inline ::Oyster::Math::Float3 TangentialLinearVelocity( const ::Oyster::Math::Float3 &angularVelocity, const ::Oyster::Math::Float3 &worldOffset ) inline ::Oyster::Math::Float3 TangentialLinearVelocity( const ::Oyster::Math::Float3 &angularVelocity, const ::Oyster::Math::Float3 &worldOffset )
{ {
return angularVelocity.Cross( worldOffset ); return angularVelocity.Cross( worldOffset ) /= worldOffset.Dot( worldOffset );
} }
/****************************************************************** /******************************************************************