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Prefix for "sinking" objects

This commit is contained in:
Robin Engman 2014-01-31 13:41:06 +01:00
parent 0a04c1c9f1
commit c7bc7281d8
5 changed files with 26 additions and 16 deletions
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25
Code/GamePhysics/Implementation/PhysicsAPI_Impl.cpp
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@ -26,7 +26,7 @@ namespace
ICustomBody::State protoState; proto->GetState( protoState ); ICustomBody::State protoState; proto->GetState( protoState );
ICustomBody::State deuterState; deuter->GetState( deuterState ); ICustomBody::State deuterState; deuter->GetState( deuterState );
Float4 protoG = protoState.GetLinearMomentum( worldPointOfContact.xyz ), Float4 protoG = protoState.GetLinearMomentum(worldPointOfContact.xyz ),
deuterG = deuterState.GetLinearMomentum( worldPointOfContact.xyz ); deuterG = deuterState.GetLinearMomentum( worldPointOfContact.xyz );
// calc from perspective of deuter // calc from perspective of deuter
@ -198,24 +198,27 @@ void API_Impl::Update()
proto = updateList.begin(); proto = updateList.begin();
for( ; proto != updateList.end(); ++proto ) for( ; proto != updateList.end(); ++proto )
{ {
Float3 lM = state.GetLinearMomentum() + state.GetLinearImpulse(); (*proto)->GetState( state );
Float3 lM = state.GetLinearMomentum();
if( lM.x < this->epsilon ) //LinearAlgebra3D::InterpolateAxisYToNormal_UsingNlerp(state.SetOrientation(, Float4(state.GetGravityNormal(), 0.0f), 1.0f);
if( abs(lM.x) < this->epsilon )
{ {
state.SetLinearMomentum( Float3(0, lM.y, lM.z) ); state.linearMomentum.x = 0;
state.SetLinearImpulse( Float3(0, lM.y, lM.z) );
} }
if( lM.y < this->epsilon ) if( abs(lM.y) < this->epsilon )
{ {
state.SetLinearMomentum( Float3(lM.x, 0, lM.z) ); state.linearMomentum.y = 0;
state.SetLinearImpulse( Float3(lM.x, 0, lM.z) );
} }
if( lM.z < this->epsilon ) if( abs(lM.z) < this->epsilon )
{ {
state.SetLinearMomentum( Float3(lM.x, lM.y, 0) ); state.linearMomentum.z = 0;
state.SetLinearImpulse( Float3(lM.x, lM.y, 0) );
} }
(*proto)->SetState( state );
switch( (*proto)->Update(this->updateFrameLength) ) switch( (*proto)->Update(this->updateFrameLength) )
{ {
case UpdateState_altered: case UpdateState_altered:

2
Code/GamePhysics/PhysicsAPI.h
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@ -34,7 +34,7 @@ namespace Oyster
namespace Constant namespace Constant
{ {
const float gravity_constant = (const float)6.67284e-11; //!< The _big_G_! ( N(m/kg)^2 ) Used in real gravityforcefields. const float gravity_constant = (const float)6.67284e-11; //!< The _big_G_! ( N(m/kg)^2 ) Used in real gravityforcefields.
const float epsilon = (const float)1.0e-7; const float epsilon = (const float)1.0e-3;
} }
class PHYSICS_DLL_USAGE API class PHYSICS_DLL_USAGE API

4
Code/GamePhysics/PhysicsStructs.h
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@ -115,11 +115,13 @@ namespace Oyster { namespace Physics
bool IsDisturbed() const; bool IsDisturbed() const;
bool IsForwarded() const; bool IsForwarded() const;
::Oyster::Math::Float3 linearMomentum;
private: private:
::Oyster::Math::Float mass, restitutionCoeff, staticFrictionCoeff, kineticFrictionCoeff; ::Oyster::Math::Float mass, restitutionCoeff, staticFrictionCoeff, kineticFrictionCoeff;
::Oyster::Physics3D::MomentOfInertia inertiaTensor; ::Oyster::Physics3D::MomentOfInertia inertiaTensor;
::Oyster::Math::Float3 reach, centerPos, angularAxis; ::Oyster::Math::Float3 reach, centerPos, angularAxis;
::Oyster::Math::Float3 linearMomentum, angularMomentum; ::Oyster::Math::Float3 angularMomentum;
::Oyster::Math::Float3 linearImpulse, angularImpulse; ::Oyster::Math::Float3 linearImpulse, angularImpulse;
::Oyster::Math::Float3 deltaPos, deltaAxis; // Forwarding data sum ::Oyster::Math::Float3 deltaPos, deltaAxis; // Forwarding data sum
::Oyster::Math::Float3 gravityNormal; ::Oyster::Math::Float3 gravityNormal;

2
Code/OysterPhysics3D/OysterCollision3D.cpp
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@ -784,7 +784,7 @@ namespace Oyster { namespace Collision3D { namespace Utility
if( Intersect(box, sphere) ) if( Intersect(box, sphere) )
{ {
Float distance; Float distance;
Ray ray( box.center, sphere.center - box.center ); Ray ray( box.center, (sphere.center - box.center).Normalize() );
Intersect( sphere, ray, distance ); Intersect( sphere, ray, distance );
worldPointOfContact = ray.origin + ray.direction*distance; worldPointOfContact = ray.origin + ray.direction*distance;

7
Code/OysterPhysics3D/RigidBody.cpp
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@ -50,7 +50,12 @@ void RigidBody::Update_LeapFrog( Float updateFrameLength )
// updating the linear // updating the linear
// ds = dt * Formula::LinearVelocity( m, avg_G ) = dt * avg_G / m = (dt / m) * avg_G // ds = dt * Formula::LinearVelocity( m, avg_G ) = dt * avg_G / m = (dt / m) * avg_G
this->centerPos += ( updateFrameLength / this->mass ) * AverageWithDelta( this->momentum_Linear, this->impulse_Linear ); Float3 deltaPos = ( updateFrameLength / this->mass ) * AverageWithDelta( this->momentum_Linear, this->impulse_Linear );
if( deltaPos.GetLength() < 0.001f )
{
deltaPos = Float3::null;
}
this->centerPos += deltaPos;
// updating the angular // updating the angular
// dO = dt * Formula::AngularVelocity( (RI)^-1, avg_H ) = dt * (RI)^-1 * avg_H // dO = dt * Formula::AngularVelocity( (RI)^-1, avg_H ) = dt * (RI)^-1 * avg_H