[Change] Hack to deal with high ang velocity and long ode timesteps.

src/dynamic_body.cpp

@@ -53,6 +53,19 @@ 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]);

src/dynamic_body.h

@@ -18,6 +18,7 @@ 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);
 

src/main.cpp

@@ -153,6 +153,16 @@ void L3D::HandleEvents(void) {
     switch(event.type) {
     case SDL_KEYDOWN:
       if(event.key.keysym.sym == SDLK_q) L3D::Quit();
+#ifdef DEBUG
+      if(event.key.keysym.sym == SDLK_F12) {
+        /* Add test object. */
+        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
       if(event.key.keysym.sym == SDLK_F11) SDL_WM_ToggleFullScreen(L3D::scrSurface);
       if(event.key.keysym.sym == SDLK_F10) L3D::SetView(L3D::objectViewerView);
       L3D::keyState[event.key.keysym.sym] = 1;

src/model_body.cpp

@@ -101,6 +101,8 @@ void ModelBody::GetRotMatrix(matrix4x4d& m) {
 }
 
 void ModelBody::TransformToModelCoords(const Frame* camFrame) {
+  printf("ModelBody::TransformToMOdelCoords(): Warning! This becomes horribly",
+      "inaccurate if the Body is in the root frame, and a few AUs out.\n");
   const vector3d pos = GetPosition();
   const dReal* r = dGeomGetRotation(geoms[0]);
   matrix4x4d m;

src/ship.cpp

@@ -98,6 +98,7 @@ 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();