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replaced spring function

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Sara 2023-10-19 18:03:34 +02:00
parent 9541157e04
commit 90b93a8817
1 changed files with 16 additions and 20 deletions
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36
src/rigidbody.c
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@ -104,21 +104,13 @@ static inline
Vector _internal_calculate_contact_force(RigidBody* self, Contact* contact) {
Collision hit = contact->hit;
if(vsqrmagnitudef(hit.penetration_vector) < powf(0.01f, 2))
return ZeroVector;
const float d = vmagnitudef(hit.penetration_vector);
const float k = 0.5f;
const float b = 0.5f;
const float depth = -vdotf(hit.normal, hit.penetration_vector);
const float elasticity = 200.0f;
const float damping = 4.f;
const Vector velocity = hit.velocity;
const Vector normal = hit.normal;
const Vector damping = vmulff(hit.normal, k * d);
const Vector bounce = vmulff(vmulff(hit.normal, b), vdotf(hit.normal, velocity));
// float dot = -vdotf(contact->hit.normal, vaddf(hit.velocity, self->last_linear_force)) * 0.5f;
// dot = fmaxf(dot, 0.0f);
// Vector counter_force = vmulff(contact->hit.normal, dot * vmagnitudef(hit.penetration_vector) * self->mass);
return vmulff(vsubf(damping, bounce), self->mass);
return vmulff(normal, -depth * elasticity - damping * vdotf(normal, velocity));
}
static inline
@ -137,18 +129,22 @@ void _internal_rigidbody_solve_contact(RigidBody* self, Contact* contact, Vector
rigidbody_add_impulse(self, force, 1);
}
ASSERT_RETURN(!visnanf(force), , "Force contains NaN (1)");
ASSERT_RETURN(!visnanf(force),, "Force contains NaN (1)");
}
void rigidbody_solve_contacts(RigidBody* self) {
ASSERT_RETURN(!visnanf(self->linear_velocity),, "Velocity is NaN (0)");
_internal_rigidbody_collect_contacts(self);
void rigidbody_solve_contacts(RigidBody* self, List* contacts) {
Vector solve_forces = ZeroVector;
list_foreach(Contact, contact, &self->contacts) {
_internal_rigidbody_solve_contact(self, contact, &solve_forces);
}
}
void rigidbody_handle_contacts(RigidBody* self) {
ASSERT_RETURN(!visnanf(self->linear_velocity),, "Velocity is NaN (0)");
_internal_rigidbody_collect_contacts(self);
rigidbody_solve_contacts(self, &self->contacts);
ASSERT_RETURN(!visnanf(self->linear_velocity),, "Velocity is NaN (1)");
}
@ -177,7 +173,7 @@ void _internal_rigidbody_integrate_forces(RigidBody* self) {
}
void rigidbody_apply_physics(RigidBody* self) {
rigidbody_solve_contacts(self);
rigidbody_handle_contacts(self);
_internal_rigidbody_integrate_forces(self);
}