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[Add] Linear collision response between dynamic bodies.

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This commit is contained in:
Rtch90 2018-04-08 18:59:33 +01:00
parent 799e1de136
commit 6401a6a3d3
2 changed files with 41 additions and 18 deletions
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16
src/main.cpp
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@ -166,18 +166,20 @@ void L3D::HandleEvents(void) {
if(event.key.keysym.sym == SDLK_i) L3D::showDebugInfo = !L3D::showDebugInfo; if(event.key.keysym.sym == SDLK_i) L3D::showDebugInfo = !L3D::showDebugInfo;
#ifdef DEBUG #ifdef DEBUG
if(event.key.keysym.sym == SDLK_F12) { if(event.key.keysym.sym == SDLK_F12) {
/* Add test object. */ if(KeyState(SDLK_LSHIFT)) {
/*Ship* body = new Ship(ShipType::LADYBIRD);
body->SetLabel("A friend");
body->SetFrame(L3D::player->GetFrame());
body->SetPosition(L3D::player->GetPosition()+vector3d(0,0,-1000));
Space::AddBody(body);*/
SpaceStation* station = new SpaceStation(SpaceStation::JJHOOP); SpaceStation* station = new SpaceStation(SpaceStation::JJHOOP);
station->SetLabel("Poemi-chan's Folly"); station->SetLabel("Poemi-chan's Folly");
station->SetFrame(L3D::player->GetFrame()); station->SetFrame(L3D::player->GetFrame());
station->SetRotMatrix(matrix4x4d::RotateZMatrix(M_PI)); station->SetRotMatrix(matrix4x4d::RotateZMatrix(M_PI));
station->SetPosition(L3D::player->GetPosition() + vector3d(0, 0, -5000)); station->SetPosition(L3D::player->GetPosition()+vector3d(0,0,-5000));
Space::AddBody(station); Space::AddBody(station);
} else {
Ship* body = new Ship(ShipType::LADYBIRD);
body->SetLabel("A Friend");
body->SetFrame(L3D::player->GetFrame());
body->SetPosition(L3D::player->GetPosition()+vector3d(0,0,-1000));
Space::AddBody(body);
}
} }
#endif #endif
if(event.key.keysym.sym == SDLK_F11) SDL_WM_ToggleFullScreen(L3D::scrSurface); if(event.key.keysym.sym == SDLK_F11) SDL_WM_ToggleFullScreen(L3D::scrSurface);

33
src/space.cpp
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@ -327,7 +327,7 @@ static bool _OnCollision2(Object* o1, Object* o2, CollisionContact* c) {
} }
static void hitCallback(CollisionContact* c) { static void hitCallback(CollisionContact* c) {
printf("AUCH!! %x (depth %f)\n", SDL_GetTicks(), c->depth); //printf("AUCH!! %x (depth %f)\n", SDL_GetTicks(), c->depth);
Object* po1 = static_cast<Object*>(c->userData1); Object* po1 = static_cast<Object*>(c->userData1);
Object* po2 = static_cast<Object*>(c->userData2); Object* po2 = static_cast<Object*>(c->userData2);
@ -340,17 +340,38 @@ static void hitCallback(CollisionContact* c) {
assert(po1_isDynBody || po2_isDynBody); assert(po1_isDynBody || po2_isDynBody);
if(po1_isDynBody && po2_isDynBody) { if(po1_isDynBody && po2_isDynBody) {
DynamicBody* b1 = static_cast<DynamicBody*>(po1);
DynamicBody* b2 = static_cast<DynamicBody*>(po2);
vector3d vel1 = b1->GetVelocity();
vector3d vel2 = b2->GetVelocity();
const vector3d relVel = vel2 - vel1;
const double invMass1 = 1.0 / b1->GetMass();
const double invMass2 = 1.0 / b2->GetMass();
const double coeff_rest = 0.8;
const double j = (-(1+coeff_rest) * (vector3d::Dot(relVel, c->normal))) /
(vector3d::Dot(c->normal, c->normal) *
(invMass1 + invMass2));
/* Step back. */
b1->TimeStepUpdate(-L3D::GetTimeStep());
b2->TimeStepUpdate(-L3D::GetTimeStep());
/* Apply impulse. */
b1->SetVelocity(vel1 - (j*c->normal)*invMass1);
b2->SetVelocity(vel2 + (j*c->normal)*invMass2);
} else { } else {
/* One body is static. */ /* One body is static. */
vector3d hitNormal; vector3d hitNormal;
if(po2_isDynBody) hitNormal = -c->normal;
else hitNormal = c->normal;
printf("Hi! %f,%f,%f\n", hitNormal.x, hitNormal.y, hitNormal.z);
DynamicBody* mover; DynamicBody* mover;
if(po1_isDynBody) mover = static_cast<DynamicBody*>(po1);
else mover = static_cast<DynamicBody*>(po2); if(po1_isDynBody) {
mover = static_cast<DynamicBody*>(po1);
hitNormal = c->normal;
} else {
mover = static_cast<DynamicBody*>(po2);
hitNormal = c->normal;
}
const vector3d vel = mover->GetVelocity(); const vector3d vel = mover->GetVelocity();
vector3d reflect = vel - (hitNormal * vector3d::Dot(vel, hitNormal) * 2.0f); vector3d reflect = vel - (hitNormal * vector3d::Dot(vel, hitNormal) * 2.0f);