diff options
Diffstat (limited to 'src/alden/CollidableObject.java')
| -rw-r--r-- | src/alden/CollidableObject.java | 62 |
1 files changed, 42 insertions, 20 deletions
diff --git a/src/alden/CollidableObject.java b/src/alden/CollidableObject.java index f3e1ed9..eb3ff6a 100644 --- a/src/alden/CollidableObject.java +++ b/src/alden/CollidableObject.java @@ -45,7 +45,7 @@ public abstract class CollidableObject { angularVelocity = new Vector3f();
torqueAccumulator = new Vector3f();
inverseInertiaTensor = new Matrix3f();
- coefficientOfRestitution = 0.65f;
+ coefficientOfRestitution = 0.75f;
penetrationCorrection = 1.05f;
dynamicFriction = 0.02f;
TG = new TransformGroup();
@@ -58,7 +58,7 @@ public abstract class CollidableObject { protected void setShape(Node node) {
this.node = node;
TG.addChild(node);
- //TG.addChild(CollisionDetector.createShape(CollisionDetector.triangularize(node)));
+// TG.addChild(CollisionDetector.createShape(CollisionDetector.triangularize(node)));
}
public Group getGroup() {
@@ -79,6 +79,7 @@ public abstract class CollidableObject { velocity.scaleAdd(duration, forceAccumulator, velocity);
// The force vector is cleared.
forceAccumulator.set(0, 0, 0);
+
angularVelocity.scaleAdd(duration, torqueAccumulator, angularVelocity);
torqueAccumulator.set(0, 0, 0);
UnQuat4f tmp = new UnQuat4f(angularVelocity.x, angularVelocity.y, angularVelocity.z, 0);
@@ -89,10 +90,16 @@ public abstract class CollidableObject { }
protected void updateTransformGroup() {
+ Vector3f com = new Vector3f(-centerOfMass.x, -centerOfMass.y, -centerOfMass.z);
Transform3D tmp = new Transform3D();
- tmp.setRotation(orientation);
- tmp.setTranslation(position);
- TG.setTransform(tmp);
+ tmp.setTranslation(com);
+ Transform3D tmp2 = new Transform3D();
+ tmp2.setRotation(orientation);
+ com.negate();
+ com.add(position);
+ tmp2.setTranslation(com);
+ tmp2.mul(tmp);
+ TG.setTransform(tmp2);
clearCaches();
}
@@ -122,12 +129,15 @@ public abstract class CollidableObject { if (inverseInertiaTensorCache == null) {
inverseInertiaTensorCache = new Matrix3f();
inverseInertiaTensorCache.set(orientation);
- inverseInertiaTensorCache.invert();
- inverseInertiaTensorCache.mul(inverseInertiaTensor);
+ Matrix3f tmp = new Matrix3f(inverseInertiaTensor);
+ Matrix3f tmp2 = new Matrix3f(inverseInertiaTensorCache);
+ tmp2.invert();
+ tmp.mul(tmp2);
+ inverseInertiaTensorCache.mul(tmp);
}
return inverseInertiaTensorCache;
}
-
+
protected void clearCaches() {
vertexCache = null;
triangleCache = null;
@@ -144,7 +154,6 @@ public abstract class CollidableObject { float max = Float.NEGATIVE_INFINITY;
int count = 0;
for (CollisionInfo collision : collisions) {
-// float speed = collision.contactNormal.dot(previousVelocity) - collision.contactNormal.dot(other.previousVelocity);
Vector3f thisRelativeContactPosition = new Vector3f();
thisRelativeContactPosition.scaleAdd(-1, position, collision.contactPoint);
thisRelativeContactPosition.scaleAdd(-1, centerOfMass, thisRelativeContactPosition);
@@ -203,34 +212,47 @@ public abstract class CollidableObject { if (totalInverseMass == 0)
return;
+ Vector3f thisMovementUnit = new Vector3f();
+ thisMovementUnit.cross(thisRelativeContactPosition, ci.contactNormal);
+ getInverseInertiaTensor().transform(thisMovementUnit);
Vector3f thisAngularVelocityUnit = new Vector3f();
- thisAngularVelocityUnit.cross(thisRelativeContactPosition, ci.contactNormal);
- getInverseInertiaTensor().transform(thisAngularVelocityUnit);
- thisAngularVelocityUnit.cross(thisAngularVelocityUnit, thisRelativeContactPosition);
+ thisAngularVelocityUnit.cross(thisMovementUnit, thisRelativeContactPosition);
totalInverseMass += thisAngularVelocityUnit.dot(ci.contactNormal);
+ Vector3f otherMovementUnit = new Vector3f();
+ otherMovementUnit.cross(otherRelativeContactPosition, ci.contactNormal);
+ other.getInverseInertiaTensor().transform(otherMovementUnit);
Vector3f otherAngularVelocityUnit = new Vector3f();
- otherAngularVelocityUnit.cross(otherRelativeContactPosition, ci.contactNormal);
- other.getInverseInertiaTensor().transform(otherAngularVelocityUnit);
- otherAngularVelocityUnit.cross(otherAngularVelocityUnit, otherRelativeContactPosition);
+ otherAngularVelocityUnit.cross(otherMovementUnit, otherRelativeContactPosition);
totalInverseMass += otherAngularVelocityUnit.dot(ci.contactNormal);
-
+
Vector3f impulse = new Vector3f(ci.contactNormal);
impulse.scale(deltaClosingSpeed / totalInverseMass);
+
velocity.scaleAdd(inverseMass, impulse, velocity);
Vector3f tmp = new Vector3f();
tmp.cross(thisRelativeContactPosition, impulse);
- tmp.scale(thisAngularVelocityUnit.dot(ci.contactNormal));
getInverseInertiaTensor().transform(tmp);
angularVelocity.add(tmp);
- position.scaleAdd(-ci.penetration * penetrationCorrection * inverseMass / (inverseMass + other.inverseMass), ci.contactNormal, position);
+ position.scaleAdd(-ci.penetration * penetrationCorrection * inverseMass / totalInverseMass, ci.contactNormal, position);
+ thisMovementUnit.scale(-ci.penetration * penetrationCorrection / totalInverseMass);
+ UnQuat4f tmp2 = new UnQuat4f(thisMovementUnit.x, thisMovementUnit.y, thisMovementUnit.z, 0);
+ tmp2.scale(0.5f);
+ tmp2.mul(orientation);
+ orientation.add(tmp2);
+ orientation.normalize();
impulse.negate();
other.velocity.scaleAdd(other.inverseMass, impulse, other.velocity);
tmp.cross(otherRelativeContactPosition, impulse);
- tmp.scale(otherAngularVelocityUnit.dot(ci.contactNormal));
other.getInverseInertiaTensor().transform(tmp);
other.angularVelocity.add(tmp);
- other.position.scaleAdd(ci.penetration * penetrationCorrection * other.inverseMass / (inverseMass + other.inverseMass), ci.contactNormal, other.position);
+ other.position.scaleAdd(ci.penetration * penetrationCorrection * other.inverseMass / totalInverseMass, ci.contactNormal, other.position);
+ otherMovementUnit.scale(ci.penetration * penetrationCorrection / totalInverseMass);
+ tmp2.set(otherMovementUnit.x, otherMovementUnit.y, otherMovementUnit.z, 0);
+ tmp2.scale(0.5f);
+ tmp2.mul(other.orientation);
+ other.orientation.add(tmp2);
+ other.orientation.normalize();
}
}
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