Merge branch 'Physics' of https://github.com/dean11/Danbias into GameLogic

Code/GamePhysics/Implementation/PhysicsAPI_Impl.cpp

@@ -51,6 +51,15 @@ namespace
 			Float4 protoG  = protoState.GetLinearMomentum( worldPointOfContact.xyz ),
 				   deuterG = deuterState.GetLinearMomentum( worldPointOfContact.xyz );
 
+			if( normal != normal ) // debug: trap
+				const char *breakpoint = "This should never happen";
+
+			if( protoG != protoG ) // debug: trap
+				const char *breakpoint = "This should never happen";
+
+			if( deuterG != deuterG ) // debug: trap
+				const char *breakpoint = "This should never happen";
+
 			Float protoG_Magnitude = protoG.Dot( normal ),
 				  deuterG_Magnitude = deuterG.Dot( normal );
 
@@ -106,7 +115,10 @@ namespace
 				protoG_Magnitude = -protoG_Magnitude;
 				deuterG_Magnitude = -deuterG_Magnitude;
 			}
-					
+			
+			if( normal != normal ) // debug: trap
+				const char *breakpoint = "This should never happen";
+
 			// bounce
 			Float4 bounceP = normal * Formula::CollisionResponse::Bounce( protoState.GetRestitutionCoeff(),
 																		  protoState.GetMass(), protoG_Magnitude,
@@ -223,6 +235,9 @@ void API_Impl::Update()
 			}
 		}
 
+		if( gravityImpulse != gravityImpulse ) // debug: trap
+				const char *breakpoint = "This should never happen";
+
 		if( gravityImpulse != Float4::null )
 		{
 			state.ApplyLinearImpulse( gravityImpulse.xyz );

Code/GamePhysics/Implementation/SimpleRigidBody.cpp

@@ -332,6 +332,7 @@ UpdateState SimpleRigidBody::Update( Float timeStepLength )
 		this->rigid.centerPos = Lerp( this->collisionRebound.previousSpatial.center, this->rigid.centerPos, this->collisionRebound.timeOfContact );
 		this->rigid.SetRotation( Lerp(this->collisionRebound.previousSpatial.axis, this->rigid.axis, this->collisionRebound.timeOfContact) );
 		this->rigid.boundingReach = Lerp( this->collisionRebound.previousSpatial.reach, this->rigid.boundingReach, this->collisionRebound.timeOfContact );
+		timeStepLength *= 2.0f - this->collisionRebound.timeOfContact; // compensate for rebounded time
 		this->collisionRebound.timeOfContact = 1.0f;
 	}
 

Code/GamePhysics/Implementation/SphericalRigidBody.cpp

@@ -254,6 +254,7 @@ UpdateState SphericalRigidBody::Update( Float timeStepLength )
 		this->rigid.centerPos = Lerp( this->collisionRebound.previousSpatial.center, this->rigid.centerPos, this->collisionRebound.timeOfContact );
 		this->rigid.SetRotation( Lerp(this->collisionRebound.previousSpatial.axis, this->rigid.axis, this->collisionRebound.timeOfContact) );
 		this->rigid.boundingReach = Lerp( this->collisionRebound.previousSpatial.reach, this->rigid.boundingReach, this->collisionRebound.timeOfContact );
+		timeStepLength *= 2.0f - this->collisionRebound.timeOfContact; // compensate for rebounded time
 		this->collisionRebound.timeOfContact = 1.0f;
 	}