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added contact_vector

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This commit is contained in:
Dave Schuyler 2003-07-12 01:24:35 +00:00
parent 05ac2f527e
commit afe8501ff7
3 changed files with 74 additions and 50 deletions
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20
panda/src/physics/actorNode.I
View File

@ -15,3 +15,23 @@
// panda3d@yahoogroups.com .
//
////////////////////////////////////////////////////////////////////
////////////////////////////////////////////////////////////////////
// Function : set_contact_vector
// Access : Public
// Description :
////////////////////////////////////////////////////////////////////
INLINE void ActorNode::
set_contact_vector(const LVector3f &contact_vector) {
_contact_vector=contact_vector;
}
////////////////////////////////////////////////////////////////////
// Function : get_contact_vector
// Access : Public
// Description :
////////////////////////////////////////////////////////////////////
INLINE const LVector3f &ActorNode::
get_contact_vector() const {
return _contact_vector;
}

4
panda/src/physics/actorNode.h
View File

@ -38,6 +38,9 @@ PUBLISHED:
virtual ~ActorNode();
PhysicsObject *get_physics_object() { return _mass_center; }
void set_contact_vector(const LVector3f &contact_vector);
const LVector3f &get_contact_vector() const;
// update the parent scene graph node with PhysicsObject information
// i.e. copy from PhysicsObject to PandaNode
@ -48,6 +51,7 @@ PUBLISHED:
private:
PhysicsObject *_mass_center;
LVector3f _contact_vector;
bool _ok_to_callback;
// node hook if the client changes the node's transform.

100
panda/src/physics/physicsCollisionHandler.cxx
View File

@ -55,55 +55,55 @@ apply_linear_force(ColliderDef &def, const LVector3f &force) {
if (force == LVector3f::zero()) {
return;
}
if (def._node) {
ActorNode *actor=DCAST(ActorNode, def._node);
float friction=1.0f;
LVector3f vel=actor->get_physics_object()->get_velocity();
LVector3f old_vel=vel;
LVector3f adjustment=force;
adjustment.normalize();
adjustment*=adjustment.dot(vel);
#if 0 //[
float initialVelMag=vel.length();
float temp=((vel-c)*friction).length();
if ((vel-c)[2]) {
cerr<<"\n\napply_linear_force"
<<"\n vel "<<vel<<" mag "<<initialVelMag
<<"\n force "<<force<<" mag "<<force.length()
<<"\n unitForce "<<unitForce<<" mag "<<unitForce.length()
<<"\n c "<<c<<" mag "<<c.length()
<<"\n vel "<<vel-c<<" mag "<<(vel-c).length()
<<"\n friction "<<friction
<<"\n vel "<<((vel-c)*friction)<<" mag "<<temp
<<"\n initialVelMag > "<<(initialVelMag>temp)
<<endl;
if (initialVelMag<temp) {
cerr<<"\n*************************************"<<endl;
}
}
#endif //]
float angle=adjustment.dot(vel);
vel-=adjustment;
if (angle<=0.0f) {
// ...avoid amplifying the velocity by checking to see
// that the adjustment and the velocity are more than
// right-angles (i.e. obtuse angle).
float almostStationary=1.0f;
if (vel.dot(vel)>almostStationary) {
friction*=0.01f; cerr<<"not almostStationary"<<endl;
}
//vel*=1.0f-friction;
}
LVector3f new_vel=vel;
if (vel.length() > old_vel.length()) {
cerr<<"\nvel.length() > old_vel.length() "<<vel.length()<<" > "<<old_vel.length()<<endl;
}
if (vel.length() > 10.0f) {
cerr<<"\nvel.length() > 10.0f "<<vel.length()<<endl;
}
actor->get_physics_object()->set_velocity(vel);
if (!def._node) {
return;
}
ActorNode *actor=DCAST(ActorNode, def._node);
float friction=0.9f;
LVector3f vel=actor->get_physics_object()->get_velocity();
LVector3f old_vel=vel;
LVector3f adjustment=force;
adjustment.normalize();
adjustment*=adjustment.dot(vel);
#if 0 //[
float initialVelMag=vel.length();
float temp=((vel-c)*friction).length();
if ((vel-c)[2]) {
cerr<<"\n\napply_linear_force"
<<"\n old_vel "<<old_vel<<" len "<<old_vel.length()
<<"\n force "<<force<<" len "<<force.length()
<<"\n adjustment "<<adjustment<<" len"<<adjustment.length()
<<"\n vel "<<vel-c<<" len "<<(vel-c).length()
<<"\n friction "<<friction
<<"\n vel "<<((vel-c)*friction)<<" len "<<temp
<<"\n initialVelLen > "<<(initialVelMag>temp)
<<endl;
if (initialVelMag<temp) {
cerr<<"\n*************************************"<<endl;
}
}
#endif //]
float angle=adjustment.dot(vel);
vel-=adjustment;
if (angle<=0.0f) {
// ...avoid amplifying the velocity by checking to see
// that the adjustment and the velocity are more than
// right-angles (i.e. obtuse angle).
float almostStationary=1.0f;
if (vel.dot(vel)>almostStationary) {
friction*=0.01f; cerr<<"not almostStationary"<<endl;
}
//vel*=1.0f-friction;
}
LVector3f new_vel=vel;
if (vel.length() > old_vel.length()) {
cerr<<"\nvel.length() > old_vel.length() "<<vel.length()<<" > "<<old_vel.length()<<endl;
}
if (vel.length() > 10.0f) {
cerr<<"\nvel.length() > 10.0f "<<vel.length()<<endl;
}
actor->set_contact_vector(force);
actor->get_physics_object()->set_velocity(vel);
}