Not perfect, but here we go.

1 files changed, 27 insertions, 20 deletions

diff --git a/src/alden/CollidableObject.java b/src/alden/CollidableObject.java
index 7246609..1f0d285 100644
--- a/src/alden/CollidableObject.java
+++ b/src/alden/CollidableObject.java
@@ -51,7 +51,7 @@ public abstract class CollidableObject {
 		coefficientOfRestitution = 0.75f;

 		penetrationCorrection = 1.05f;

 		dynamicFriction = 0.02f;

-		rotationalFriction = 0.3f;

+		rotationalFriction = 0.05f;

 		TG = new TransformGroup();

 		TG.setCapability(TransformGroup.ALLOW_TRANSFORM_WRITE);

 		BG = new BranchGroup();

@@ -237,25 +237,6 @@ public abstract class CollidableObject {
 				acceleration.scaleAdd(-1, other.previousVelocity, other.velocity);

 				other.velocity.scaleAdd(dynamicFriction * acceleration.dot(ci.contactNormal), perpVelocity, other.velocity);

 			}

-			

-			/* Rotational Friction */

-			Vector3f w = new Vector3f();

-			

-			float radius = thisRelativeContactPosition.length();

-			w.cross(angularVelocity, ci.contactNormal);

-			velocity.scaleAdd(-1, previousRotationalVelocity, velocity);

-			previousRotationalVelocity.scale(radius, w);

-			velocity.scaleAdd(radius, w, velocity);

-			

-			radius = otherRelativeContactPosition.length();

-			w.cross(other.angularVelocity, ci.contactNormal);

-			other.velocity.scaleAdd(-1, other.previousRotationalVelocity, other.velocity);

-			other.previousRotationalVelocity.scale(radius, w);

-			other.velocity.scaleAdd(radius, w, other.velocity);

-			

-			

-			angularVelocity.scaleAdd(-rotationalFriction * ci.contactNormal.dot(angularVelocity), angularVelocity, angularVelocity);

-			other.angularVelocity.scaleAdd(-rotationalFriction * ci.contactNormal.dot(other.angularVelocity), other.angularVelocity, other.angularVelocity);		

 		}

 		

 		Vector3f thisMovementUnit = new Vector3f();

@@ -300,5 +281,31 @@ public abstract class CollidableObject {
 		tmp2.mul(other.orientation);

 		other.orientation.add(tmp2);

 		other.orientation.normalize();

+		

+		if (rotationalFriction > 0) {

+			/* Rotational Friction */

+			Vector3f w = new Vector3f();

+			

+			/*float radius = thisRelativeContactPosition.length();

+			w.cross(angularVelocity, ci.contactNormal);

+			velocity.scaleAdd(-1, previousRotationalVelocity, velocity);

+			previousRotationalVelocity.scale(radius, w);

+			velocity.scaleAdd(radius, w, velocity);

+			w.cross(previousRotationalVelocity, ci.contactNormal);

+			angularVelocity.scaleAdd(-0.5f * w.dot(angularVelocity), w, angularVelocity);

+			

+			radius = otherRelativeContactPosition.length();

+			w.cross(other.angularVelocity, ci.contactNormal);

+			other.velocity.scaleAdd(-1, other.previousRotationalVelocity, other.velocity);

+			other.previousRotationalVelocity.scale(radius, w);

+			other.velocity.scaleAdd(radius , w, other.velocity);

+			w.cross(other.previousRotationalVelocity, ci.contactNormal);

+			other.angularVelocity.scaleAdd(-0.5f * w.dot(other.angularVelocity), w, other.angularVelocity);

+			*/

+			

+			angularVelocity.scaleAdd(-rotationalFriction * ci.contactNormal.dot(angularVelocity), ci.contactNormal, angularVelocity);

+			other.angularVelocity.scaleAdd(-rotationalFriction * ci.contactNormal.dot(other.angularVelocity), ci.contactNormal, other.angularVelocity);

+			

+		}

 	}

 }