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Created function for friction

This commit is contained in:
Robin Engman 2013-12-19 10:15:32 +01:00 committed by Dander7BD
parent 9cee69edd6
commit 59d5a3dc1e
3 changed files with 40 additions and 26 deletions
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31
Code/GamePhysics/Implementation/PhysicsAPI_Impl.cpp
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@ -7,6 +7,7 @@ using namespace ::Oyster::Physics;
using namespace ::Oyster::Math;
using namespace ::Oyster::Collision3D;
using namespace ::Utility::DynamicMemory;
using namespace ::Utility::Value;
API_Impl API_instance;
@ -43,32 +44,10 @@ namespace
protoState.GetMass(), protoG_Magnitude );;
Float4 sumJ = normal*impulse;
// FRICTION
// Relative momentum after normal impulse
Float4 relativeMomentum = deuterState.GetLinearMomentum() - protoState.GetLinearMomentum();
Float4 tanFriction = relativeMomentum - relativeMomentum.Dot(normal)*normal;
tanFriction.Normalize();
Float magnitudeFriction = -relativeMomentum.Dot(tanFriction);
magnitudeFriction = magnitudeFriction/( 1/protoState.GetMass() + 1/deuterState.GetMass() );
float mu = 0.5f;
Float4 frictionImpulse;
if( abs(magnitudeFriction) < impulse*mu )
{
frictionImpulse = magnitudeFriction*tanFriction;
}
else
{
Float dynamicFriction = 0.5f;
frictionImpulse = -impulse*tanFriction*dynamicFriction;
}
// Apply
sumJ -= ( 1 / protoState.GetMass() )*frictionImpulse;
// FRICTION END
sumJ -= Formula::CollisionResponse::Friction( impulse, normal, protoState.GetLinearMomentum(),
protoState.GetFrictionCoeff(), 0.2f, protoState.GetMass(),
deuterState.GetLinearMomentum(), deuterState.GetFrictionCoeff(),
0.2f, deuterState.GetMass());
// calc from perspective of proto
proto->GetNormalAt( worldPointOfContact, normal );

28
Code/GamePhysics/PhysicsFormula-Impl.h
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@ -40,6 +40,34 @@ namespace Oyster { namespace Physics { namespace Formula
{
return (e + 1) * (mB*gA - mA*gB) / (mA + mB);
}
inline ::Oyster::Math::Float4 Friction( ::Oyster::Math::Float i, ::Oyster::Math::Float4 iN, ::Oyster::Math::Float4 momA, ::Oyster::Math::Float sFA, ::Oyster::Math::Float dFA, ::Oyster::Math::Float mA, ::Oyster::Math::Float4 momB, ::Oyster::Math::Float sFB, ::Oyster::Math::Float dFB, ::Oyster::Math::Float mB )
{
// FRICTION
// Relative momentum after normal impulse
::Oyster::Math::Float4 relativeMomentum = momB - momA;
::Oyster::Math::Float4 tanFriction = relativeMomentum - relativeMomentum.Dot( iN )*iN;
tanFriction.Normalize();
::Oyster::Math::Float magnitudeFriction = -relativeMomentum.Dot( tanFriction );
magnitudeFriction = magnitudeFriction*mA*mB/( mA + mB );
::Oyster::Math::Float mu = 0.5f*( sFA + sFB );
::Oyster::Math::Float4 frictionImpulse;
if( abs(magnitudeFriction) < i*mu )
{
frictionImpulse = magnitudeFriction*tanFriction;
}
else
{
::Oyster::Math::Float dynamicFriction = 0.5f*( dFA + dFB );
frictionImpulse = -i*tanFriction*dynamicFriction;
}
return ( 1 / mA )*frictionImpulse;
}
}
} } }

7
Code/GamePhysics/PhysicsFormula.h
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@ -20,6 +20,13 @@ namespace Oyster { namespace Physics { namespace Formula
::Oyster::Math::Float Impulse( ::Oyster::Math::Float coeffOfRestitution,
::Oyster::Math::Float massA, ::Oyster::Math::Float momentumA,
::Oyster::Math::Float massB, ::Oyster::Math::Float momentumB );
::Oyster::Math::Float4 Friction( ::Oyster::Math::Float impulse, ::Oyster::Math::Float4 impulseNormal,
::Oyster::Math::Float4 momentumA, ::Oyster::Math::Float staticFrictionA,
::Oyster::Math::Float dynamicFrictionA, ::Oyster::Math::Float massA,
::Oyster::Math::Float4 momentumB, ::Oyster::Math::Float staticFrictionB,
::Oyster::Math::Float dynamicFrictionB, ::Oyster::Math::Float massB );
}
} } }