diff options
Diffstat (limited to 'src/alden')
| -rw-r--r-- | src/alden/CollidableObject.java | 47 |
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);
+
+ }
}
}
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