diff options
| -rw-r--r-- | src/alden/CollidableObject.java | 20 |
1 files changed, 20 insertions, 0 deletions
diff --git a/src/alden/CollidableObject.java b/src/alden/CollidableObject.java index 236b731..a2738fa 100644 --- a/src/alden/CollidableObject.java +++ b/src/alden/CollidableObject.java @@ -212,6 +212,26 @@ public abstract class CollidableObject { if (totalInverseMass == 0)
return;
+ /* Dynamic Friction */
+ if (dynamicFriction > 0) {
+ Vector3f perpVelocity = new Vector3f();
+ perpVelocity.scaleAdd(initialClosingSpeed, ci.contactNormal, previousVelocity);
+ if (perpVelocity.length() > 0) {
+ perpVelocity.normalize();
+ Vector3f acceleration = new Vector3f();
+ acceleration.scaleAdd(-1, previousVelocity, velocity);
+ velocity.scaleAdd(dynamicFriction * acceleration.dot(ci.contactNormal), perpVelocity, velocity);
+ }
+
+ perpVelocity.scaleAdd(initialClosingSpeed, ci.contactNormal, other.previousVelocity);
+ if (perpVelocity.length() > 0) {
+ perpVelocity.normalize();
+ Vector3f acceleration = new Vector3f();
+ acceleration.scaleAdd(-1, other.previousVelocity, other.velocity);
+ other.velocity.scaleAdd(dynamicFriction * acceleration.dot(ci.contactNormal), perpVelocity, other.velocity);
+ }
+ }
+
Vector3f thisMovementUnit = new Vector3f();
thisMovementUnit.cross(thisRelativeContactPosition, ci.contactNormal);
getInverseInertiaTensor().transform(thisMovementUnit);
|