Rebound adjustment trial
Rebound had a strong friction-like effect. Testing to see if it works better if applied before the leapfrog update
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@ -333,23 +333,23 @@ UpdateState SimpleRigidBody::Update( Float timeStepLength )
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// this->isForwarded = false;
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//}
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this->rigid.Update_LeapFrog( timeStepLength );
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{ // Rebound if needed
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if( this->collisionRebound.timeOfContact < 1.0f )
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{
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this->rigid.centerPos = Lerp( this->collisionRebound.previousSpatial.center, this->rigid.centerPos, this->collisionRebound.timeOfContact );
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this->rigid.SetRotation( Lerp(this->collisionRebound.previousSpatial.axis, this->rigid.axis, this->collisionRebound.timeOfContact) );
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this->rigid.boundingReach = Lerp( this->collisionRebound.previousSpatial.reach, this->rigid.boundingReach, this->collisionRebound.timeOfContact );
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this->collisionRebound.timeOfContact = 1.0f;
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}
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// Update rebound data
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this->collisionRebound.previousSpatial.center = this->rigid.centerPos;
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this->collisionRebound.previousSpatial.axis = this->rigid.axis;
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this->collisionRebound.previousSpatial.reach = this->rigid.boundingReach;
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this->collisionRebound.timeOfContact = 1.0f;
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}
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this->rigid.Update_LeapFrog( timeStepLength );
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{ // Maintain rotation resolution by keeping axis within [0, 2pi] (trigonometric methods gets faster too)
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Float3 n;
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::std::modf( this->rigid.axis * (0.5f / pi), n );
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@ -254,23 +254,23 @@ UpdateState SphericalRigidBody::Update( Float timeStepLength )
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// this->isForwarded = false;
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//}
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this->rigid.Update_LeapFrog( timeStepLength );
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{ // Rebound if needed
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if( this->collisionRebound.timeOfContact < 1.0f )
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{
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this->rigid.centerPos = Lerp( this->collisionRebound.previousSpatial.center, this->rigid.centerPos, this->collisionRebound.timeOfContact );
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this->rigid.SetRotation( Lerp(this->collisionRebound.previousSpatial.axis, this->rigid.axis, this->collisionRebound.timeOfContact) );
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this->rigid.boundingReach = Lerp( this->collisionRebound.previousSpatial.reach, this->rigid.boundingReach, this->collisionRebound.timeOfContact );
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this->collisionRebound.timeOfContact = 1.0f;
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}
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// Update rebound data
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this->collisionRebound.previousSpatial.center = this->rigid.centerPos;
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this->collisionRebound.previousSpatial.axis = this->rigid.axis;
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this->collisionRebound.previousSpatial.reach = this->rigid.boundingReach;
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this->collisionRebound.timeOfContact = 1.0f;
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}
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this->rigid.Update_LeapFrog( timeStepLength );
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{ // Maintain rotation resolution by keeping axis within [0, 2pi] (trigonometric methods gets faster too)
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Float3 n;
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::std::modf( this->rigid.axis * (0.5f / pi), n );
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