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reworked bouncing

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Sara 2023-11-12 13:59:44 +01:00
parent 552f296b5d
commit b91880c17c
3 changed files with 23 additions and 19 deletions
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28
src/physics_entity.c
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@ -26,16 +26,11 @@ void physics_entity_debug_draw(PhysicsEntity self) {
}
static inline
Vector _internal_calculate_contact_force(RigidBody* self, Contact* contact) {
Collision hit = contact->hit;
const Vector velocity = hit.velocity;
const Vector normal = hit.normal;
const float elasticity = 0.0;
const float damping = 0.0;
const float push = vdotf(normal, velocity);
return ZeroVector; //vsubf(vmulff(normal, elasticity * fmaxf(1.0, -push)), vmulff(normal, damping * fminf(0.0, push)));
const Vector velocity = contact->hit.velocity;
const Vector normal = contact->hit.normal;
const float push = -vdotf(normal, velocity);
const Vector current_velocity = rigidbody_get_velocity(self);
return vaddf(current_velocity, vmulff(normal, push * rigidbody_get_bounce(self)));
}
static inline
@ -52,17 +47,10 @@ int _internal_default_contact_solver(RigidBody* body, Contact* contact, Transfor
return 0;
}
void physics_entity_apply_collision_forces(PhysicsEntity self, List* contacts) {
RigidBody* body = self.tc->get_rigidbody(self.data);
// apply collision impulse
list_foreach(Contact*, contact, contacts)
rigidbody_add_impulse(body, _internal_calculate_contact_force(body, contact), 1);
}
void physics_entity_solve_contacts(PhysicsEntity self, List* contacts) {
physics_entity_apply_collision_forces(self, contacts);
RigidBody* body = self.tc->get_rigidbody(self.data);
const Transform pre_solve = *rigidbody_get_transform(body);
// attempt to solve constraints
int done;
for(size_t iteration = 100; iteration != 0; --iteration) {
@ -79,8 +67,10 @@ void physics_entity_solve_contacts(PhysicsEntity self, List* contacts) {
Vector dir = vnormalizedf(vsubf(rigidbody_get_transform(body)->position, pre_solve.position));
Vector vel = rigidbody_get_velocity(body);
float dot = vdotf(dir, vel);
if(dot < 0)
vel = vsubf(vel, vmulff(dir, dot));
vel = vsubf(vel, vmulff(dir, dot * (1.0 + rigidbody_get_bounce(body))));
rigidbody_set_velocity(body, vel);
}

11
src/rigidbody.c
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@ -10,6 +10,8 @@ struct RigidBody {
float mass;
float bounce;
Vector last_linear_force;
Vector next_linear_force;
Vector linear_velocity;
@ -26,6 +28,7 @@ RigidBody* rigidbody_make(Transformable transform) {
*self = (RigidBody){
.transformable = transform,
.mass = 1.0f,
.bounce = 0.0f,
.linear_velocity = ZeroVector,
.next_linear_force = ZeroVector,
@ -107,6 +110,14 @@ void rigidbody_set_mass(RigidBody* self, float mass) {
self->mass = mass;
}
float rigidbody_get_bounce(const RigidBody* self) {
return self->bounce;
}
void rigidbody_set_bounce(RigidBody* self, float bounce) {
self->bounce = bounce;
}
void rigidbody_add_impulse(RigidBody* self, Vector force, int use_mass) {
rigidbody_accelerate(self, vmulff(force, 1.0f/delta_time()), use_mass);
}

3
src/rigidbody.h
View file

@ -27,6 +27,9 @@ extern void rigidbody_integrate_forces(RigidBody* self);
extern float rigidbody_get_mass(const RigidBody* self);
extern void rigidbody_set_mass(RigidBody* self, float mass);
extern float rigidbody_get_bounce(const RigidBody* self);
extern void rigidbody_set_bounce(RigidBody* self, float bounce);
extern void rigidbody_add_impulse(RigidBody* self, Vector force, int use_mass);
extern void rigidbody_accelerate(RigidBody* self, Vector force, int use_mass);