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[Add] Angular effects on collision with static objects.

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Rtch90 2018-04-10 19:56:13 +01:00
parent 748eee9e94
commit 8c2a4ac3b7
1 changed files with 13 additions and 3 deletions
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16
src/space.cpp
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@ -379,15 +379,25 @@ static void hitCallback(CollisionContact* c) {
hitNormal = c->normal;
}
const double coeff_rest = 0.5;
const vector3d vel = mover->GetVelocity();
vector3d reflect = vel - (hitNormal * vector3d::Dot(vel, hitNormal) * 2.0f);
/* Dampen a little. */
reflect = reflect * 0.5;
/* Step back. */
mover->UndoTimestep();
/* and set altered velocity. */
mover->SetVelocity(reflect);
mover->SetVelocity(reflect * coeff_rest);
/* Angular effects. */
const double invMass1 = 1.0 / mover->GetMass();
const vector3d hitPos1 = c->pos - mover->GetPosition();
const double j = (-(1+coeff_rest) * (vector3d::Dot(mover->GetVelocity(), c->normal))) /
(invMass1 +
(vector3d::Dot(c->normal, vector3d::Cross(vector3d::Cross(hitPos1, c->normal) * (1.0/mover->GetAngularInertia()), hitPos1)))
);
mover->SetAngVelocity(mover->GetAngVelocity() - vector3d::Cross(hitPos1, (j*c->normal))*(1.0/mover->GetAngularInertia()));
}
}