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Friction fix 

special case; no movement
special case; movement directly into surface
.. dealt with
This commit is contained in:
Dander7BD 2014-02-04 08:55:57 +01:00
parent 358cddfd9a
commit d4bd72bb4a
1 changed files with 21 additions and 15 deletions
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36
Code/GamePhysics/PhysicsFormula-Impl.h
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@ -48,26 +48,32 @@ namespace Oyster { namespace Physics { namespace Formula
// Relative momentum after normal impulse
::Oyster::Math::Float4 relativeMomentum = momB - momA;
::Oyster::Math::Float4 tanFriction = relativeMomentum - relativeMomentum.Dot( iN )*iN;
tanFriction.Normalize();
::Oyster::Math::Float4 tanFriction = relativeMomentum - relativeMomentum.Dot( iN ) * iN;
::Oyster::Math::Float magnitudeFriction = -relativeMomentum.Dot( tanFriction );
magnitudeFriction = magnitudeFriction*mA*mB/( mA + mB );
if( tanFriction.Dot(tanFriction) > 0.0f )
{ // no friction if moving directly into surface, or not at all.
tanFriction.Normalize();
::Oyster::Math::Float mu = 0.5f*( sFA + sFB );
::Oyster::Math::Float magnitudeFriction = -relativeMomentum.Dot( tanFriction );
magnitudeFriction = magnitudeFriction * mA * mB / ( mA + mB );
::Oyster::Math::Float4 frictionImpulse;
if( abs(magnitudeFriction) < i*mu )
{
frictionImpulse = magnitudeFriction*tanFriction;
::Oyster::Math::Float mu = 0.5f * ( sFA + sFB );
::Oyster::Math::Float4 frictionImpulse;
if( abs(magnitudeFriction) < i * mu )
{
frictionImpulse = magnitudeFriction * tanFriction;
}
else
{
::Oyster::Math::Float dynamicFriction = 0.5f * ( dFA + dFB );
frictionImpulse = ( -i * dynamicFriction ) * tanFriction;
}
return ( 1 / mA ) * frictionImpulse;
}
else
{
::Oyster::Math::Float dynamicFriction = 0.5f*( dFA + dFB );
frictionImpulse = -i*tanFriction*dynamicFriction;
}
return ( 1 / mA )*frictionImpulse;
return ::Oyster::Math::Float4::null;
}
}