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RigidBody::Predict_Leapfrog(..) added 

needed for collision response rewinding/forwarding
This commit is contained in:
Dander7BD 2013-12-20 10:55:04 +01:00
parent ec9f2379c7
commit 9aa584acc7
2 changed files with 18 additions and 2 deletions
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19
Code/OysterPhysics3D/RigidBody.cpp
View File

@ -8,6 +8,7 @@
using namespace ::Oyster::Collision3D;
using namespace ::Oyster::Physics3D;
using namespace ::Oyster::Math3D;
using namespace ::Utility::Value;
RigidBody::RigidBody( )
{ // by Dan Andersson
@ -49,7 +50,7 @@ void RigidBody::Update_LeapFrog( Float updateFrameLength )
// updating the linear
// ds = dt * Formula::LinearVelocity( m, avg_G ) = dt * avg_G / m = (dt / m) * avg_G
this->centerPos += ( updateFrameLength / this->mass ) * ::Utility::Value::AverageWithDelta( this->momentum_Linear, this->impulse_Linear );
this->centerPos += ( updateFrameLength / this->mass ) * AverageWithDelta( this->momentum_Linear, this->impulse_Linear );
// updating the angular
Float4x4 rotationMatrix; ::Oyster::Math3D::RotationMatrix( this->rotation, rotationMatrix );
@ -57,7 +58,7 @@ void RigidBody::Update_LeapFrog( Float updateFrameLength )
Float4x4 wMomentOfInertiaTensor = TransformMatrix( rotationMatrix, this->momentOfInertiaTensor ); // RI
// dO = dt * Formula::AngularVelocity( (RI)^-1, avg_H ) = dt * (RI)^-1 * avg_H
this->axis += Formula::AngularVelocity( wMomentOfInertiaTensor.GetInverse(), ::Utility::Value::AverageWithDelta(this->momentum_Angular, this->impulse_Angular) );
this->axis += Formula::AngularVelocity( wMomentOfInertiaTensor.GetInverse(), AverageWithDelta(this->momentum_Angular, this->impulse_Angular) );
this->rotation = Rotation( this->axis );
// update momentums and clear impulse_Linear and impulse_Angular
@ -67,6 +68,20 @@ void RigidBody::Update_LeapFrog( Float updateFrameLength )
this->impulse_Angular = Float4::null;
}
void RigidBody::Predict_LeapFrog( Float4 &outDeltaPos, Float4 &outDeltaAxis, const Float4 &actingLinearImpulse, const Float4 &actingAngularImpulse, Float deltaTime )
{
// updating the linear
// ds = dt * Formula::LinearVelocity( m, avg_G ) = dt * avg_G / m = (dt / m) * avg_G
outDeltaPos = ( deltaTime / this->mass ) * AverageWithDelta( this->momentum_Linear, actingLinearImpulse );
// updating the angular
Float4x4 rotationMatrix; ::Oyster::Math3D::RotationMatrix( this->rotation, rotationMatrix );
Float4x4 wMomentOfInertiaTensor = TransformMatrix( rotationMatrix, this->momentOfInertiaTensor ); // RI
// dO = dt * Formula::AngularVelocity( (RI)^-1, avg_H ) = dt * (RI)^-1 * avg_H
outDeltaAxis = Formula::AngularVelocity( wMomentOfInertiaTensor.GetInverse(), AverageWithDelta(this->momentum_Angular, actingAngularImpulse) );
}
void RigidBody::ApplyImpulse( const Float4 &worldJ, const Float4 &atWorldPos )
{ // by Dan Andersson
Float4 worldOffset = atWorldPos - this->centerPos;

1
Code/OysterPhysics3D/RigidBody.h
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@ -30,6 +30,7 @@ namespace Oyster { namespace Physics3D
RigidBody & operator = ( const RigidBody &body );
void Update_LeapFrog( ::Oyster::Math::Float updateFrameLength );
void Predict_LeapFrog( ::Oyster::Math::Float4 &outDeltaPos, ::Oyster::Math::Float4 &outDeltaAxis, const ::Oyster::Math::Float4 &actingLinearImpulse, const ::Oyster::Math::Float4 &actingAngularImpulse, ::Oyster::Math::Float deltaTime );
void ApplyImpulse( const ::Oyster::Math::Float4 &worldJ, const ::Oyster::Math::Float4 &atWorldPos );
void ApplyImpulse_Linear( const ::Oyster::Math::Float4 &worldJ );