Slight improvement.

2 files changed, 19 insertions, 24 deletions

diff --git a/src/alden/CollidableObject.java b/src/alden/CollidableObject.java
index a8c4975..7246609 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 = 0.017f;

+		rotationalFriction = 0.3f;

 		TG = new TransformGroup();

 		TG.setCapability(TransformGroup.ALLOW_TRANSFORM_WRITE);

 		BG = new BranchGroup();

@@ -203,6 +203,21 @@ public abstract class CollidableObject {
 		otherRelativeContactPosition.scaleAdd(-1, other.position, ci.contactPoint);

 		otherRelativeContactPosition.scaleAdd(-1, other.centerOfMass, otherRelativeContactPosition);

 		

+		Vector3f thisContactVelocity = new Vector3f();

+		thisContactVelocity.cross(angularVelocity, thisRelativeContactPosition);

+		thisContactVelocity.add(previousVelocity);

+		

+		Vector3f otherContactVelocity = new Vector3f();

+		otherContactVelocity.cross(other.angularVelocity, otherRelativeContactPosition);

+		otherContactVelocity.add(other.previousVelocity);

+		

+		float initialClosingSpeed = ci.contactNormal.dot(thisContactVelocity) - ci.contactNormal.dot(otherContactVelocity);

+		float finalClosingSpeed = -initialClosingSpeed * coefficientOfRestitution;

+		float deltaClosingSpeed = finalClosingSpeed - initialClosingSpeed;

+		float totalInverseMass = inverseMass + other.inverseMass;

+		if (totalInverseMass == 0)

+			return;

+		

 		/* Dynamic Friction */

 		if (dynamicFriction > 0) {

 			Vector3f acceleration = new Vector3f();

@@ -239,30 +254,10 @@ public abstract class CollidableObject {
 			other.velocity.scaleAdd(radius, w, other.velocity);

 			

 			

-			angularVelocity.scaleAdd(-rotationalFriction, angularVelocity);

-			other.angularVelocity.scaleAdd(-rotationalFriction, other.angularVelocity);

-

-			

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

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

 		}

 		

-		

-		Vector3f thisContactVelocity = new Vector3f();

-		thisContactVelocity.cross(angularVelocity, thisRelativeContactPosition);

-		thisContactVelocity.add(previousVelocity);

-		

-		Vector3f otherContactVelocity = new Vector3f();

-		otherContactVelocity.cross(other.angularVelocity, otherRelativeContactPosition);

-		otherContactVelocity.add(other.previousVelocity);

-		

-		float initialClosingSpeed = ci.contactNormal.dot(thisContactVelocity) - ci.contactNormal.dot(otherContactVelocity);

-		float finalClosingSpeed = -initialClosingSpeed * coefficientOfRestitution;

-		float deltaClosingSpeed = finalClosingSpeed - initialClosingSpeed;

-		float totalInverseMass = inverseMass + other.inverseMass;

-		if (totalInverseMass == 0)

-			return;

-		

-		

-		

 		Vector3f thisMovementUnit = new Vector3f();

 		thisMovementUnit.cross(thisRelativeContactPosition, ci.contactNormal);

 		getInverseInertiaTensor().transform(thisMovementUnit);

diff --git a/src/tesseract/TesseractUI.java b/src/tesseract/TesseractUI.java
index 4922e52..9a046f1 100644
--- a/src/tesseract/TesseractUI.java
+++ b/src/tesseract/TesseractUI.java
@@ -160,7 +160,7 @@ public class TesseractUI extends JFrame {
 		//World.addObject(new Box(0.18f, 0.1f, 0.25f, new Vector3f(0.1f, -0.10f, 0)));
 		//myWorld.addObject(new Box(0.18f, 0.25f, 0.1f, new Vector3f(-0.1f, 0, 0)));
 		PhysicalObject s = new Sphere(.05f, new Vector3f());
-		s.setAngularVelocity(new Vector3f(0, 0, -1));
+		s.setAngularVelocity(new Vector3f(0, 0, 2));
 		myWorld.addObject(s);
 		
 		//myWorld.addObject(o);