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Bug fixes 

including a hack
This commit is contained in:
Dander7BD 2013-12-19 17:27:09 +01:00
parent 461fecd1d2
commit ff52977dcf
3 changed files with 19 additions and 15 deletions
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19
Code/GamePhysics/Implementation/PhysicsAPI_Impl.cpp
View File

@ -39,14 +39,13 @@ namespace
deuterG_Magnitude = deuterG.Dot( normal );
// bounce
Float impulse = Formula::CollisionResponse::Bounce( deuterState.GetRestitutionCoeff(),
Float4 bounceD = normal * -Formula::CollisionResponse::Bounce( deuterState.GetRestitutionCoeff(),
deuterState.GetMass(), deuterG_Magnitude,
protoState.GetMass(), protoG_Magnitude );;
Float4 sumJ = normal*impulse;
protoState.GetMass(), protoG_Magnitude );
sumJ -= Formula::CollisionResponse::Friction( impulse, normal,
protoState.GetLinearMomentum(), protoState.GetFrictionCoeff_Static(), protoState.GetFrictionCoeff_Kinetic(), protoState.GetMass(),
deuterState.GetLinearMomentum(), deuterState.GetFrictionCoeff_Static(), deuterState.GetFrictionCoeff_Kinetic(), deuterState.GetMass());
//sumJ -= Formula::CollisionResponse::Friction( impulse, normal,
// protoState.GetLinearMomentum(), protoState.GetFrictionCoeff_Static(), protoState.GetFrictionCoeff_Kinetic(), protoState.GetMass(),
// deuterState.GetLinearMomentum(), deuterState.GetFrictionCoeff_Static(), deuterState.GetFrictionCoeff_Kinetic(), deuterState.GetMass());
// calc from perspective of proto
proto->GetNormalAt( worldPointOfContact, normal );
@ -54,15 +53,19 @@ namespace
deuterG_Magnitude = deuterG.Dot( normal );
// bounce
sumJ -= normal * Formula::CollisionResponse::Bounce( protoState.GetRestitutionCoeff(),
Float4 bounceP = normal * Formula::CollisionResponse::Bounce( protoState.GetRestitutionCoeff(),
protoState.GetMass(), protoG_Magnitude,
deuterState.GetMass(), deuterG_Magnitude );
Float4 bounce = Average( bounceD, bounceP );
//Float4 bounce = bounceD + bounceP;
// FRICTION
// Apply
//sumJ += ( 1 / deuterState.GetMass() )*frictionImpulse;
// FRICTION END
protoState.ApplyImpulse( sumJ, worldPointOfContact, normal );
protoState.ApplyImpulse( bounce, worldPointOfContact, normal );
proto->SetState( protoState );
}
break;

3
Code/GamePhysics/PhysicsFormula-Impl.h
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@ -38,7 +38,8 @@ namespace Oyster { namespace Physics { namespace Formula
{
inline ::Oyster::Math::Float Bounce( ::Oyster::Math::Float e, ::Oyster::Math::Float mA, ::Oyster::Math::Float gA, ::Oyster::Math::Float mB, ::Oyster::Math::Float gB )
{
return (e + 1) * (mB*gA - mA*gB) / (mA + mB);
//return (e + 1) * (mB*gA - mA*gB) / (mA + mB);
return (e + 1) * (mA*gB - mB*gA) / (mA + mB);
}
inline ::Oyster::Math::Float4 Friction( ::Oyster::Math::Float i, ::Oyster::Math::Float4 iN, ::Oyster::Math::Float4 momA, ::Oyster::Math::Float sFA, ::Oyster::Math::Float dFA, ::Oyster::Math::Float mA, ::Oyster::Math::Float4 momB, ::Oyster::Math::Float sFB, ::Oyster::Math::Float dFB, ::Oyster::Math::Float mB )

4
Code/OysterPhysics3D/RigidBody.cpp
View File

@ -108,13 +108,13 @@ void RigidBody::Update_LeapFrog( Float deltaTime )
// updating the linear
// dG = F * dt
// ds = dt * Formula::LinearVelocity( m, avg_G ) = dt * avg_G / m = (dt / m) * avg_G
Float3 linearImpulse = this->impulseForceSum * deltaTime; // aka deltaLinearMomentum
Float3 linearImpulse = this->impulseForceSum; // HACK: * deltaTime; // aka deltaLinearMomentum
Float3 deltaPos = ( deltaTime / this->mass ) * ::Utility::Value::AverageWithDelta( this->linearMomentum, linearImpulse );
// updating the angular
// dH = T * dt
// dO = dt * Formula::AngularVelocity( (RI)^-1, avg_H ) = dt * (RI)^-1 * avg_H
Float3 angularImpulse = this->impulseTorqueSum * deltaTime; // aka deltaAngularMomentum
Float3 angularImpulse = this->impulseTorqueSum; // HACK: * deltaTime; // aka deltaAngularMomentum
Float3 rotationAxis = Formula::AngularVelocity( wMomentOfInertiaTensor.GetInverse(),
::Utility::Value::AverageWithDelta(this->angularMomentum, angularImpulse) );