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bug fixes in Physics collision handling

This commit is contained in:
Dander7BD 2014-02-04 15:43:17 +01:00
parent 15798bfca9
commit 9622d37d3f
2 changed files with 34 additions and 12 deletions
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23
Code/GamePhysics/Implementation/PhysicsAPI_Impl.cpp
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@ -15,7 +15,7 @@ API_Impl API_instance;
namespace
{
void OnPossibleCollision( Octree& worldScene, unsigned int protoTempRef, unsigned int deuterTempRef )
{ /** @todo TODO: OnPossibleCollision is a temporary solution .*/
{
auto proto = worldScene.GetCustomBody( protoTempRef );
auto deuter = worldScene.GetCustomBody( deuterTempRef );
@ -26,11 +26,28 @@ namespace
ICustomBody::State protoState; proto->GetState( protoState );
ICustomBody::State deuterState; deuter->GetState( deuterState );
// calc from perspective of deuter
Float4 normal; deuter->GetNormalAt( worldPointOfContact, normal );
if( normal.Dot(normal) == 0.0f )
{ // special case: deuter is completly contained within proto or they have overlapping centers.
normal = Float4( protoState.GetCenterPosition() - deuterState.GetCenterPosition(), 0.0f );
if( normal.Dot(normal) == 0.0f )
{ // they have overlapping centers. Rebound at least
// calculate and store time interpolation value, for later rebound.
proto->SetTimeOfContact( worldPointOfContact );
return;
}
// borrowing the negated normal of proto.
proto->GetNormalAt( worldPointOfContact, normal );
normal = -normal;
}
Float4 protoG = protoState.GetLinearMomentum( worldPointOfContact.xyz ),
deuterG = deuterState.GetLinearMomentum( worldPointOfContact.xyz );
// calc from perspective of deuter
Float4 normal; deuter->GetNormalAt( worldPointOfContact, normal );
Float protoG_Magnitude = protoG.Dot( normal ),
deuterG_Magnitude = deuterG.Dot( normal );

7
Code/GamePhysics/PhysicsStructs-Impl.h
View File

@ -159,7 +159,12 @@ namespace Oyster
inline ::Oyster::Math::Float3 CustomBodyState::GetLinearMomentum( const ::Oyster::Math::Float3 &at ) const
{
return this->linearMomentum + ::Oyster::Physics3D::Formula::TangentialLinearMomentum( this->angularMomentum, at - this->centerPos );
::Oyster::Math::Float3 offset = at - this->centerPos;
if( offset.Dot(offset) > 0.0f )
{
return this->linearMomentum + ::Oyster::Physics3D::Formula::TangentialLinearMomentum( this->angularMomentum, offset );
}
return this->linearMomentum;
}
inline const ::Oyster::Math::Float3 & CustomBodyState::GetAngularMomentum() const