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Improved rigid body handling for non spherical bounds type.

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Polyheder dynamic objects are now converted properly.
This commit is contained in:
Kester Maddock
2004-04-16 06:26:33 +00:00
parent 98b8c5102d
commit 4e2f7baff2
4 changed files with 42 additions and 34 deletions
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34
source/gameengine/Physics/Sumo/Fuzzics/src/SM_Object.cpp
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@@ -51,7 +51,7 @@
// Tweak parameters
static const MT_Scalar ImpulseThreshold = 0.5;
static const MT_Scalar ImpulseThreshold = -10.;
static const MT_Scalar FixThreshold = 0.01;
static const MT_Scalar FixVelocity = 0.01;
SM_Object::SM_Object(
@@ -177,27 +177,22 @@ void SM_Object::dynamicCollision(const MT_Point3 &local2,
MT_Scalar invMass
)
{
// Same again but now obj1 is non-dynamic
// Compute the point on obj1 closest to obj2 (= sphere with radius = 0)
// local1 is th point closest to obj2
// local2 is the local origin of obj2
// This should look familiar....
MT_Scalar rel_vel_normal = normal.dot(rel_vel);
if (rel_vel_normal <= 0.0) {
if (-rel_vel_normal < ImpulseThreshold) {
restitution = 0.0;
}
if (rel_vel_normal < -MT_EPSILON) {
restitution *= MT_min(MT_Scalar(1.0), rel_vel_normal/ImpulseThreshold);
MT_Scalar impulse = -(1.0 + restitution) * rel_vel_normal;
if (isRigidBody())
{
MT_Vector3 temp = getInvInertiaTensor() * local2.cross(normal);
applyImpulse(local2 + m_pos, (impulse / (invMass + normal.dot(temp.cross(local2)))) * normal);
MT_Vector3 temp = getInvInertiaTensor() * local2.cross(normal);
impulse /= invMass + normal.dot(temp.cross(local2));
applyImpulse(local2 + m_pos, impulse * normal);
} else {
applyCenterImpulse( ( impulse / invMass ) * normal );
impulse /= invMass;
applyCenterImpulse( impulse * normal );
}
// The friction part starts here!!!!!!!!
@@ -361,15 +356,8 @@ DT_Bool SM_Object::boing(
local1 -= obj1->m_pos, local2 -= obj2->m_pos;
// Calculate collision parameters
MT_Vector3 rel_vel = obj1->getVelocity(local1) + obj1->m_combined_lin_vel -
obj2->getVelocity(local2) - obj2->m_combined_lin_vel;
MT_Vector3 rel_vel = obj1->getVelocity(local1) - obj2->getVelocity(local2);
if (obj1->isRigidBody())
rel_vel += obj1->actualAngVelocity().cross(local1);
if (obj2->isRigidBody())
rel_vel -= obj2->actualAngVelocity().cross(local2);
MT_Scalar restitution =
MT_min(obj1->getMaterialProps()->m_restitution,
obj2->getMaterialProps()->m_restitution);
@@ -1013,9 +1001,9 @@ getVelocity(
*/
return m_prev_kinematic && !isDynamic() ?
(m_xform(local) - m_prev_xform(local)) / m_timeStep :
m_lin_vel + m_ang_vel.cross(local);
actualLinVelocity() + actualAngVelocity().cross(local);
// m_lin_vel + m_ang_vel.cross(m_xform.getBasis() * local);
//m_lin_vel + m_ang_vel.cross(m_xform.getBasis() * local);
// NB: m_xform.getBasis() * local == m_xform(local) - m_xform.getOrigin()
}