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changed friction

This commit is contained in:
Dave Schuyler 2003-08-06 03:01:36 +00:00
parent 2414326258
commit 0f596d6b91
1 changed files with 31 additions and 20 deletions
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51
panda/src/physics/physicsCollisionHandler.cxx
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@ -60,9 +60,12 @@ apply_linear_force(ColliderDef &def, const LVector3f &force) {
}
ActorNode *actor=DCAST(ActorNode, def._node);
LVector3f vel=actor->get_physics_object()->get_velocity();
if (vel == LVector3f::zero()) {
return;
}
physics_debug("apply_linear_force() {");
physics_debug(" vel "<<vel<<" len "<<vel.length());
physics_debug(" force "<<force<<" len "<<force.length());
physics_debug(" vel "<<vel<<" len "<<vel.length());
physics_debug(" force "<<force<<" len "<<force.length());
LVector3f old_vel=vel;
// Copy the force vector while translating it
@ -83,8 +86,10 @@ apply_linear_force(ColliderDef &def, const LVector3f &force) {
float adjustmentLength=-(adjustment.dot(vel));
physics_debug(" adjustmentLength "<<adjustmentLength);
float angle=-normalize(old_vel).dot(normalize(force));
physics_debug(" angle "<<angle);
// Are we in contact with something:
if (adjustmentLength>0.0f) {
if (angle>0.0f) {
physics_debug(" positive contact");
adjustment*=adjustmentLength;
physics_debug(" adjustment mul "<<adjustment<<" len "<<adjustment.length());
@ -92,24 +97,30 @@ apply_linear_force(ColliderDef &def, const LVector3f &force) {
// but will deflect us parallel (or tangent) to the surface:
vel+=adjustment;
physics_debug(" vel "<<vel<<" len "<<vel.length());
physics_debug(" angle "<<adjustmentLength);
const float almostStationary=0.1f;
float friction=0.9f;
// This velocity is not very accurate, but it's better than using
// the pre-collision-tested velocity for now. This may need to be
// better:
LVector3f implicitVel=actor->get_physics_object()->get_implicit_velocity();
physics_debug(" implicitVel "<<implicitVel<<" len "<<implicitVel.length());
// Determine the friction:
if (implicitVel.length()<almostStationary) {
physics_debug(" static friction");
friction=0.9f;
} else {
physics_debug(" dynamic friction");
friction=0.1f;
if (vel!=LVector3f::zero()) {
const float almostStationary=0.1f;
float frictionCoefficient=0.0f;
// Determine the friction:
if (vel.length()<almostStationary) {
physics_debug(" static friction");
frictionCoefficient=0.9f;
} else {
physics_debug(" dynamic friction");
frictionCoefficient=0.5f;
}
// Apply the friction:
physics_debug(" vel pre friction "<<vel<<" len "<<vel.length());
float friction=frictionCoefficient*angle;
physics_debug(" friction "<<friction);
assert(friction>=0.0f && friction<=1.0f);
#if 0
float dt=ClockObject::get_global_clock()->get_dt();
vel *= (1.0f-friction) * dt * dt;
#else
vel *= 1.0f-friction;
#endif
physics_debug(" vel post friction "<<vel<<" len "<<vel.length());
}
// Apply the friction:
vel*=1.0f-friction;
} else if (adjustmentLength==0.0f) {
physics_debug(" brushing contact");
} else {