ref: e07fbb3904e8194fb620988ee47c32b443884c3a
parent: 02c64fd2b32c350c156e74a15656e4951165b872
author: MHS <gek@katherine>
date: Tue Mar 16 13:46:16 EDT 2021
Automatic commit.
--- a/include-demo/chadphys.h
+++ b/include-demo/chadphys.h
@@ -30,7 +30,7 @@
};
body->mass = 0;
body->bounciness = 0;
- body->friction = 0.1;
+ body->friction = 0.99; //The amount of coplanar velocity preserved in collisions.
body->airfriction = 1.0;
body->a = (vec3){.d[0] = 0,.d[1] = 0,.d[2] = 0};body->localt = identitymat4();
@@ -74,6 +74,7 @@
#endif
}
if(penvec.d[3] <= 0) return; //No penetration detected, or invalid configuration.
+ vec3 penvecnormalized = scalev3(1.0/penvec.d[3], downv4(penvec)); //the penetration vector points into B...
//We now have the penetration vector. There is a penetration.
//determine how much each should be displaced by.
//The penvec points INTO A and is of length penvec.d[3]
@@ -88,20 +89,32 @@
}
if(a->mass > 0){vec4 displacea = scalev4(-adisplacefactor, penvec);
+ vec3 a_relvel = subv3(a->v, comvel);
+ vec3 a_planarvel = subv3(a_relvel,
+ scalev3(
+ dotv3(a_relvel, penvecnormalized),
+ penvecnormalized
+ )
+ );
a->shape.c.d[0] += displacea.d[0];
a->shape.c.d[1] += displacea.d[1];
a->shape.c.d[2] += displacea.d[2];
- //a->v = addv3(scalev3(1.0-a->friction, arelvel),bvel); //Apply friction!
- a->v = addv3( scalev3(a->friction, comvel), scalev3(1.0-a->friction, a->v) );
+ a->v = addv3( comvel, scalev3(a->friction, a_planarvel) ); //The center of mass velocity, plus a portion of coplanar velocity.
a->v = addv3(a->v, scalev3( a->bounciness, downv4(displacea) ) );
}
if(b->mass > 0){vec4 displaceb = scalev4(bdisplacefactor, penvec);
+ vec3 b_relvel = subv3(b->v, comvel);
+ vec3 b_planarvel = subv3(b_relvel, //brelvel - portion of brelvel in the direction of penvecnormalized
+ scalev3(
+ dotv3(b_relvel, penvecnormalized), //the component in that direction
+ penvecnormalized //that direction
+ )
+ );
b->shape.c.d[0] += displaceb.d[0];
b->shape.c.d[1] += displaceb.d[1];
b->shape.c.d[2] += displaceb.d[2];
- //b->v = addv3(scalev3(1.0 - b->friction, brelvel),avel);
- b->v = addv3( scalev3(b->friction, comvel), scalev3(1.0-b->friction, b->v) );
+ b->v = addv3(comvel, scalev3(b->friction, b_planarvel) ); //The center of mass velocity, plus a portion of coplanar velocity.
b->v = addv3(b->v, scalev3( b->bounciness, downv4(displaceb) ) );
}
}