NoEdge/Danbias
NoEdge
/
Danbias
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

RigidBody update adjusted 

Spherical and Simple
This commit is contained in:
Dander7BD 2014-02-04 11:48:50 +01:00
parent 42cb1dab1d
commit e39eb5fb4b
2 changed files with 46 additions and 57 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

52
Code/GamePhysics/Implementation/SimpleRigidBody.cpp
View File

@ -325,41 +325,30 @@ void * SimpleRigidBody::GetCustomTag() const
// return this->rigid.GetLinearVelocity(); // return this->rigid.GetLinearVelocity();
//} //}
UpdateState SimpleRigidBody::Update( Float timeStepLength ) UpdateState SimpleRigidBody::Update( Float timeStepLength )
{ {
//if( this->isForwarded ) if( this->collisionRebound.timeOfContact < 1.0f )
//{
// this->rigid.Move( this->deltaPos.xyz, this->deltaAxis.xyz );
// this->deltaPos = Float4::null;
// this->deltaAxis = Float4::null;
// this->isForwarded = false;
//}
{ // Rebound if needed { // Rebound if needed
if( this->collisionRebound.timeOfContact < 1.0f ) 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.centerPos = Lerp( this->collisionRebound.previousSpatial.center, this->rigid.centerPos, this->collisionRebound.timeOfContact ); this->rigid.boundingReach = Lerp( this->collisionRebound.previousSpatial.reach, this->rigid.boundingReach, this->collisionRebound.timeOfContact );
this->rigid.SetRotation( Lerp(this->collisionRebound.previousSpatial.axis, this->rigid.axis, this->collisionRebound.timeOfContact) ); this->collisionRebound.timeOfContact = 1.0f;
this->rigid.boundingReach = Lerp( this->collisionRebound.previousSpatial.reach, this->rigid.boundingReach, this->collisionRebound.timeOfContact );
this->collisionRebound.timeOfContact = 1.0f;
}
// Update rebound data
this->collisionRebound.previousSpatial.center = this->rigid.centerPos;
this->collisionRebound.previousSpatial.axis = this->rigid.axis;
this->collisionRebound.previousSpatial.reach = this->rigid.boundingReach;
} }
this->rigid.Update_LeapFrog( timeStepLength ); // Maintain rotation resolution by keeping axis within [0, 2pi] (trigonometric methods gets faster too)
Float4 temp;
::std::modf( this->rigid.axis * (0.5f / pi), temp.xyz );
this->rigid.axis -= ((2.0f * pi) * temp).xyz;
{ // Maintain rotation resolution by keeping axis within [0, 2pi] (trigonometric methods gets faster too) // Update rebound data
Float3 n; this->collisionRebound.previousSpatial.center = this->rigid.centerPos;
::std::modf( this->rigid.axis * (0.5f / pi), n ); this->collisionRebound.previousSpatial.axis = this->rigid.axis;
this->rigid.axis -= (2.0f * pi) * n; this->collisionRebound.previousSpatial.reach = this->rigid.boundingReach;
}
{ // Check if this is close enough to be set resting // Check if this is close enough to be set resting
temp = Float4( this->rigid.impulse_Linear, 0.0f ) + Float4( this->rigid.impulse_Angular, 0.0f );
if( temp.Dot(temp) <= (Constant::epsilon * Constant::epsilon) )
{
unsigned char resting = 0; unsigned char resting = 0;
if( this->rigid.momentum_Linear.Dot(this->rigid.momentum_Linear) <= (Constant::epsilon * Constant::epsilon) ) if( this->rigid.momentum_Linear.Dot(this->rigid.momentum_Linear) <= (Constant::epsilon * Constant::epsilon) )
{ {
@ -371,9 +360,14 @@ UpdateState SimpleRigidBody::Update( Float timeStepLength )
this->rigid.momentum_Angular = Float3::null; this->rigid.momentum_Angular = Float3::null;
++resting; ++resting;
} }
if( resting == 2 ) return UpdateState_resting; if( resting == 2 )
{
this->rigid.impulse_Linear = this->rigid.impulse_Angular = Float3::null;
return UpdateState_resting;
}
} }
this->rigid.Update_LeapFrog( timeStepLength );
return UpdateState_altered; return UpdateState_altered;
} }

51
Code/GamePhysics/Implementation/SphericalRigidBody.cpp
View File

@ -249,38 +249,28 @@ void * SphericalRigidBody::GetCustomTag() const
UpdateState SphericalRigidBody::Update( Float timeStepLength ) UpdateState SphericalRigidBody::Update( Float timeStepLength )
{ {
//if( this->isForwarded ) if( this->collisionRebound.timeOfContact < 1.0f )
//{
// this->rigid.Move( this->deltaPos.xyz, this->deltaAxis.xyz );
// this->deltaPos = Float4::null;
// this->deltaAxis = Float4::null;
// this->isForwarded = false;
//}
{ // Rebound if needed { // Rebound if needed
if( this->collisionRebound.timeOfContact < 1.0f ) 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.centerPos = Lerp( this->collisionRebound.previousSpatial.center, this->rigid.centerPos, this->collisionRebound.timeOfContact ); this->rigid.boundingReach = Lerp( this->collisionRebound.previousSpatial.reach, this->rigid.boundingReach, this->collisionRebound.timeOfContact );
this->rigid.SetRotation( Lerp(this->collisionRebound.previousSpatial.axis, this->rigid.axis, this->collisionRebound.timeOfContact) ); this->collisionRebound.timeOfContact = 1.0f;
this->rigid.boundingReach = Lerp( this->collisionRebound.previousSpatial.reach, this->rigid.boundingReach, this->collisionRebound.timeOfContact );
this->collisionRebound.timeOfContact = 1.0f;
}
// Update rebound data
this->collisionRebound.previousSpatial.center = this->rigid.centerPos;
this->collisionRebound.previousSpatial.axis = this->rigid.axis;
this->collisionRebound.previousSpatial.reach = this->rigid.boundingReach;
} }
this->rigid.Update_LeapFrog( timeStepLength ); // Maintain rotation resolution by keeping axis within [0, 2pi] (trigonometric methods gets faster too)
Float4 temp;
::std::modf( this->rigid.axis * (0.5f / pi), temp.xyz );
this->rigid.axis -= ((2.0f * pi) * temp).xyz;
{ // Maintain rotation resolution by keeping axis within [0, 2pi] (trigonometric methods gets faster too) // Update rebound data
Float3 n; this->collisionRebound.previousSpatial.center = this->rigid.centerPos;
::std::modf( this->rigid.axis * (0.5f / pi), n ); this->collisionRebound.previousSpatial.axis = this->rigid.axis;
this->rigid.axis -= (2.0f * pi) * n; this->collisionRebound.previousSpatial.reach = this->rigid.boundingReach;
}
{ // Check if this is close enough to be set resting // Check if this is close enough to be set resting
temp = Float4( this->rigid.impulse_Linear, 0.0f ) + Float4( this->rigid.impulse_Angular, 0.0f );
if( temp.Dot(temp) <= (Constant::epsilon * Constant::epsilon) )
{
unsigned char resting = 0; unsigned char resting = 0;
if( this->rigid.momentum_Linear.Dot(this->rigid.momentum_Linear) <= (Constant::epsilon * Constant::epsilon) ) if( this->rigid.momentum_Linear.Dot(this->rigid.momentum_Linear) <= (Constant::epsilon * Constant::epsilon) )
{ {
@ -292,9 +282,14 @@ UpdateState SphericalRigidBody::Update( Float timeStepLength )
this->rigid.momentum_Angular = Float3::null; this->rigid.momentum_Angular = Float3::null;
++resting; ++resting;
} }
if( resting == 2 ) return UpdateState_resting; if( resting == 2 )
{
this->rigid.impulse_Linear = this->rigid.impulse_Angular = Float3::null;
return UpdateState_resting;
}
} }
this->rigid.Update_LeapFrog( timeStepLength );
return UpdateState_altered; return UpdateState_altered;
} }