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add better nudge logic that rollbacks velocity too

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RandomityGuy 2022-12-18 21:30:44 +05:30
parent cad8606057
commit 92ec04a5b9
1 changed files with 23 additions and 7 deletions
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30
src/Marble.hx
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@ -1383,9 +1383,9 @@ class Marble extends GameObject {
var resolved = 0;
for (contact in concernedContacts) {
var distToContactPlane = position.dot(contact.normal) - contact.point.dot(contact.normal);
if (distToContactPlane < radius - 0.001) {
if (distToContactPlane < radius - 0.005) {
// Nudge to the surface of the contact plane
position = position.add(contact.normal.multiply(radius - distToContactPlane - 0.001));
position = position.add(contact.normal.multiply(radius - distToContactPlane - 0.005));
resolved++;
}
}
@ -1475,6 +1475,27 @@ class Marble extends GameObject {
timeStep = intersectT;
}
var pos = this.getAbsPos().getPosition();
this.prevPos = pos.clone();
var posAdd = this.velocity.multiply(timeStep);
var expectedPos = pos.add(posAdd);
var newPos = nudgeToContacts(expectedPos, _radius);
if (this.velocity.lengthSq() > 1e-8) {
var posDiff = newPos.sub(expectedPos);
if (posDiff.lengthSq() > 1e-8) {
var velDiffProj = this.velocity.multiply(posDiff.dot(this.velocity) / (this.velocity.lengthSq()));
var expectedProjPos = expectedPos.add(velDiffProj);
var updatedTimestep = expectedProjPos.sub(pos).length() / velocity.length();
var tDiff = updatedTimestep - timeStep;
this.velocity = this.velocity.sub(A.multiply(tDiff));
this.omega = this.omega.sub(a.multiply(tDiff));
timeStep = updatedTimestep;
}
}
piTime += timeStep;
if (this.controllable) {
for (interior in pathedInteriors) {
@ -1487,9 +1508,6 @@ class Marble extends GameObject {
}
}
var pos = this.getAbsPos().getPosition();
this.prevPos = pos.clone();
if (mode == Start) {
var upVec = this.level.currentUp;
var startpadNormal = startPad.getAbsPos().up();
@ -1509,8 +1527,6 @@ class Marble extends GameObject {
// this.velocity = this.velocity.multiply(0.925);
// }
var newPos = pos.add(this.velocity.multiply(timeStep));
newPos = nudgeToContacts(newPos, _radius);
var rot = this.getRotationQuat();
var quat = new Quat();
quat.initRotation(omega.x * timeStep, omega.y * timeStep, omega.z * timeStep);