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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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39
Code/GamePhysics/Implementation/PhysicsAPI_Impl.cpp
View File

@ -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 );
@ -26,13 +26,30 @@ namespace
ICustomBody::State protoState; proto->GetState( protoState );
ICustomBody::State deuterState; deuter->GetState( deuterState );
Float4 protoG = protoState.GetLinearMomentum(worldPointOfContact.xyz ),
deuterG = deuterState.GetLinearMomentum( worldPointOfContact.xyz );
// 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 );
Float protoG_Magnitude = protoG.Dot( normal ),
deuterG_Magnitude = deuterG.Dot( normal );
deuterG_Magnitude = deuterG.Dot( normal );
// if they are not relatively moving towards eachother, there is no collision
Float deltaPos = normal.Dot( Float4(deuterState.GetCenterPosition(), 1) - Float4(protoState.GetCenterPosition(), 1) );
@ -65,8 +82,8 @@ namespace
// bounce
Float4 bounceD = normal * -Formula::CollisionResponse::Bounce( deuterState.GetRestitutionCoeff(),
deuterState.GetMass(), deuterG_Magnitude,
protoState.GetMass(), protoG_Magnitude );
deuterState.GetMass(), deuterG_Magnitude,
protoState.GetMass(), protoG_Magnitude );
// calc from perspective of proto
@ -76,14 +93,14 @@ namespace
// bounce
Float4 bounceP = normal * Formula::CollisionResponse::Bounce( protoState.GetRestitutionCoeff(),
protoState.GetMass(), protoG_Magnitude,
deuterState.GetMass(), deuterG_Magnitude );
protoState.GetMass(), protoG_Magnitude,
deuterState.GetMass(), deuterG_Magnitude );
Float4 bounce = Average( bounceD, bounceP );
Float4 friction = Formula::CollisionResponse::Friction( protoG_Magnitude, normal,
Float4(protoState.GetLinearMomentum(), 0), protoState.GetFrictionCoeff_Static(), protoState.GetFrictionCoeff_Kinetic(), protoState.GetMass(),
Float4(deuterState.GetLinearMomentum(), 0), deuterState.GetFrictionCoeff_Static(), deuterState.GetFrictionCoeff_Kinetic(), deuterState.GetMass());
Float4(protoState.GetLinearMomentum(), 0), protoState.GetFrictionCoeff_Static(), protoState.GetFrictionCoeff_Kinetic(), protoState.GetMass(),
Float4(deuterState.GetLinearMomentum(), 0), deuterState.GetFrictionCoeff_Static(), deuterState.GetFrictionCoeff_Kinetic(), deuterState.GetMass());
Float kineticEnergyPBefore = Oyster::Physics3D::Formula::LinearKineticEnergy( protoState.GetMass(), protoState.GetLinearMomentum()/protoState.GetMass() );

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