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[Fix] Revert the silly hack and change dynamic bodies to have spherical

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mass distribution to prevent horrible exploding errors in angular
velocity.
This commit is contained in:
Allanis 2018-01-13 16:30:15 +00:00
parent c8a7e1ac94
commit c578942682
3 changed files with 9 additions and 16 deletions
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23
src/dynamic_body.cpp
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@ -29,6 +29,10 @@ void DynamicBody::SetRotation(const matrix4x4d &r) {
}
void DynamicBody::SetMassDistributionFromCollMesh(const CollMesh* m) {
/*
* XXX: This is silly. the radius of mass distribution should be
* defined on the model, not cooked up in some stupid way.
*/
vector3d min = vector3d(FLT_MAX);
vector3d max = vector3d(-FLT_MAX);
for(int i = 0; i < 3*m->nv; i += 3) {
@ -39,7 +43,11 @@ void DynamicBody::SetMassDistributionFromCollMesh(const CollMesh* m) {
max.y = MAX(m->pVertex[i+1], max.y);
max.z = MAX(m->pVertex[i+2], max.z);
}
dMassSetBox(&m_mass, 1, max.x-min.x, max.y-min.y, max.z-min.z);
float size = ((max.x-min.x) + (max.y-min.y) + (max.z-min.z)) / 6.0f;
printf("size %f\n", size);
dMassSetSphere(&m_mass, 1, size);
/* Boxes go mental after a while due to inertia tensor being fishy. */
//dMassSetBox(&m_mass, 1, max.x-min.x, max.y-min.y, max.z-min.z);
dBodySetMass(m_body, &m_mass);
}
@ -53,19 +61,6 @@ DynamicBody::~DynamicBody(void) {
dBodyDestroy(m_body);
}
void DynamicBody::TimeStepUpdate(const float timeStep) {
/*
* XXX Horrible hack.
* Prevent large ang velocities because ode hates them!
*/
const dReal* v = dBodyGetAngularVel(m_body);
vector3d vel;
vel.x = CLAMP(v[0], -50.0, 50.0);
vel.y = CLAMP(v[1], -50.0, 50.0);
vel.z = CLAMP(v[2], -50.0, 50.0);
dBodySetAngularVel(m_body, vel.x, vel.y, vel.z);
}
vector3d DynamicBody::GetVelocity(void) {
const dReal* v = dBodyGetLinearVel(m_body);
return vector3d(v[0], v[1], v[2]);

1
src/dynamic_body.h
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@ -18,7 +18,6 @@ public:
virtual bool OnCollision(Body* b, Uint32 flags) { return true; }
vector3d GetAngularMomentum(void);
void SetMassDistributionFromCollMesh(const CollMesh* m);
virtual void TimeStepUpdate(const float timeStep);
virtual void Disable(void);
virtual void Enable(void);

1
src/ship.cpp
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@ -98,7 +98,6 @@ void Ship::CalcStats(shipstats_t* stats) {
}
void Ship::TimeStepUpdate(const float timeStep) {
DynamicBody::TimeStepUpdate(timeStep);
dockingTimer = (dockingTimer-timeStep > 0 ? dockingTimer-timeStep : 0);
/* ODE tri mesh likes to know our old position. */
TriMeshUpdateLastPos();