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Don't apply friction to external velocities.  The means motion actuators that set linV will work, without having to be repeatedly triggered.
This commit is contained in:
Kester Maddock 2004-05-13 13:07:38 +00:00
parent 3118986baf
commit 81679446ba
1 changed files with 12 additions and 18 deletions
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30
source/gameengine/Physics/Sumo/Fuzzics/src/SM_Object.cpp
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@ -223,6 +223,8 @@ void SM_Object::dynamicCollision(const MT_Point3 &local2,
applyCenterImpulse( impulse * normal );
}
MT_Vector3 external = m_combined_lin_vel + m_combined_ang_vel.cross(local2);
MT_Vector3 lateral = rel_vel - external - normal * (rel_vel_normal - external.dot(normal));
#if 0
// test - only do friction on the physics part of the
// velocity.
@ -240,7 +242,6 @@ void SM_Object::dynamicCollision(const MT_Point3 &local2,
* lateral actually points in the opposite direction, i.e.,
* into the direction of the friction force.
*/
MT_Vector3 lateral = rel_vel - normal * rel_vel_normal;
if (m_shapeProps->m_do_anisotropic) {
/**
@ -451,7 +452,7 @@ DT_Bool SM_Object::fix(
if (normal.dot(normal) < MT_EPSILON)
return DT_CONTINUE;
// This distinction between dynamic and non-dynamic objects should not be
// necessary. Non-dynamic objects are assumed to have infinite mass.
if (obj1->isDynamic()) {
@ -1020,23 +1021,16 @@ SM_Object::
getVelocity(
const MT_Point3& local
) const {
// For displaced objects the velocity is faked using the previous state.
// Dynamic objects get their own velocity, not the faked velocity.
// (Dynamic objects shouldn't be displaced in the first place!!)
/* FIXME: -KM- Valgrind report:
==17624== Use of uninitialised value of size 8
==17624== at 0x831F925: MT_Vector3::dot(MT_Vector3 const&) const (MT_Tuple3.h:60)
==17624== by 0x82E4574: SM_Object::getVelocity(MT_Point3 const&) const (MT_Matrix3x3.h:81)
==17624== by 0x82E324D: SM_Object::boing(void*, void*, void*, DT_CollData const*) (SM_Object.cpp:319)
==17624== by 0x83E7308: DT_Encounter::exactTest(DT_RespTable const*, int&) const (in /home/kester/blender-src/DEBUG/blender)
*/
return m_prev_kinematic && !isDynamic() ?
(m_xform(local) - m_prev_xform(local)) / m_timeStep :
actualLinVelocity() + actualAngVelocity().cross(local);
//m_lin_vel + m_ang_vel.cross(m_xform.getBasis() * local);
if (m_prev_kinematic && !isDynamic())
{
// For displaced objects the velocity is faked using the previous state.
// Dynamic objects get their own velocity, not the faked velocity.
// (Dynamic objects shouldn't be displaced in the first place!!)
return (m_xform(local) - m_prev_xform(local)) / m_timeStep;
}
// NB: m_xform.getBasis() * local == m_xform(local) - m_xform.getOrigin()
return actualLinVelocity() + actualAngVelocity().cross(local);
}