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minor physics things

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RandomityGuy 2023-05-10 23:09:57 +05:30
parent ed193d0dca
commit b198dfb6bd
2 changed files with 26 additions and 27 deletions
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49
src/Marble.hx
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@ -559,9 +559,7 @@ class Marble extends GameObject {
return A;
}
function computeMoveForces(m:Move) {
var aControl = new Vector();
var desiredOmega = new Vector();
function computeMoveForces(m:Move, aControl:Vector, desiredOmega:Vector) {
var currentGravityDir = this.level.currentUp.multiply(-1);
var R = currentGravityDir.multiply(-this._radius);
var rollVelocity = this.omega.cross(R);
@ -593,15 +591,16 @@ class Marble extends GameObject {
desiredXVelocity = currentXVelocity;
}
var rsq = R.lengthSq();
desiredOmega = R.cross(motionDir.multiply(desiredYVelocity).add(sideDir.multiply(desiredXVelocity))).multiply(1 / rsq);
aControl = desiredOmega.sub(this.omega);
var crossP = R.cross(motionDir.multiply(desiredYVelocity).add(sideDir.multiply(desiredXVelocity))).multiply(1 / rsq);
desiredOmega.set(crossP.x, crossP.y, crossP.z);
aControl.set(desiredOmega.x - this.omega.x, desiredOmega.y - this.omega.y, desiredOmega.z - this.omega.z);
var aScalar = aControl.length();
if (aScalar > this._angularAcceleration) {
aControl = aControl.multiply(this._angularAcceleration / aScalar);
aControl.scale(this._angularAcceleration / aScalar);
}
return {result: false, aControl: aControl, desiredOmega: desiredOmega};
return false;
}
return {result: true, aControl: aControl, desiredOmega: desiredOmega};
return return true;
}
function velocityCancel(currentTime:Float, dt:Float, surfaceSlide:Bool, noBounce:Bool, stoppedPaths:Bool, pi:Array<PathedInterior>) {
@ -774,7 +773,10 @@ class Marble extends GameObject {
for (j in 0...contacts.length) {
var normalForce2 = -contacts[j].normal.dot(A);
if (normalForce2 > 0 && contacts[j].normal.dot(this.velocity.sub(contacts[j].velocity)) <= 0.0001) {
A = A.add(contacts[j].normal.multiply(normalForce2));
A.set(A.x
+ contacts[j].normal.x * normalForce2, A.y
+ contacts[j].normal.y * normalForce2, A.z
+ contacts[j].normal.z * normalForce2);
}
}
if (bestSurface != -1 && this.mode != Finish) {
@ -807,7 +809,7 @@ class Marble extends GameObject {
var aadd = R.cross(A).multiply(1 / R.lengthSq());
if (isCentered) {
var nextOmega = this.omega.add(a.multiply(dt));
aControl = desiredOmega.clone().sub(nextOmega);
aControl = desiredOmega.sub(nextOmega);
var aScalar = aControl.length();
if (aScalar > this._brakingAcceleration) {
aControl = aControl.multiply(this._brakingAcceleration / aScalar);
@ -825,19 +827,19 @@ class Marble extends GameObject {
friction2 = this._kineticFriction * bestContact.friction;
Aadd = Aadd.multiply(friction2 * bestNormalForce / aAtCMag);
}
A = A.add(Aadd);
a = a.add(aadd);
A.set(A.x + Aadd.x, A.y + Aadd.y, A.z + Aadd.z);
a.set(a.x + aadd.x, a.y + aadd.y, a.z + aadd.z);
}
A = A.add(AFriction);
a = a.add(aFriction);
A.set(A.x + AFriction.x, A.y + AFriction.y, A.z + AFriction.z);
a.set(a.x + aFriction.x, a.y + aFriction.y, a.z + aFriction.z);
lastContactNormal = bestContact.normal;
}
a = a.add(aControl);
a.set(a.x + aControl.x, a.y + aControl.y, a.z + aControl.z);
if (this.mode == Finish) {
a.set(); // Zero it out
}
return [A, a];
return a;
}
function bounceEmitter(speed:Float, normal:Vector) {
@ -1560,18 +1562,15 @@ class Marble extends GameObject {
this._firstTick = false;
}
var cmf = this.computeMoveForces(m);
var isCentered:Bool = cmf.result;
var aControl = cmf.aControl;
var desiredOmega = cmf.desiredOmega;
var aControl = new Vector();
var desiredOmega = new Vector();
var isCentered = this.computeMoveForces(m, aControl, desiredOmega);
stoppedPaths = this.velocityCancel(timeState.currentAttemptTime, timeStep, isCentered, false, stoppedPaths, pathedInteriors);
var A = this.getExternalForces(timeState.currentAttemptTime, m, timeStep);
var retf = this.applyContactForces(timeStep, m, isCentered, aControl, desiredOmega, A);
A = retf[0];
var a = retf[1];
this.velocity = this.velocity.add(A.multiply(timeStep));
this.omega = this.omega.add(a.multiply(timeStep));
var a = this.applyContactForces(timeStep, m, isCentered, aControl, desiredOmega, A);
this.velocity.set(this.velocity.x + A.x * timeStep, this.velocity.y + A.y * timeStep, this.velocity.z + A.z * timeStep);
this.omega.set(this.omega.x + a.x * timeStep, this.omega.y + a.y * timeStep, this.omega.z + a.z * timeStep);
if (this.mode == Start) {
// Bruh...
this.velocity.y = 0;

4
src/collision/CollisionEntity.hx
View file

@ -157,7 +157,7 @@ class CollisionEntity implements IOctreeObject implements IBVHObject {
public function sphereIntersection(collisionEntity:SphereCollisionEntity, timeState:TimeState) {
var position = collisionEntity.transform.getPosition();
var radius = collisionEntity.radius;
var radius = collisionEntity.radius + 0.001;
var invMatrix = invTransform;
if (this.go is PathedInterior)
@ -221,7 +221,7 @@ class CollisionEntity implements IOctreeObject implements IBVHObject {
// var closest = Collision.ClosestPtPointTriangle(position, radius, v0, v, v2, surfacenormal);
if (closest != null) {
var contactDist = closest.distanceSq(position);
if (contactDist <= radius * radius) {
if (contactDist <= radius * radius && contactDist > 0.0225) {
var normal = res.normal;
if (position.sub(closest).dot(surfacenormal) > 0) {