Merge pull request #1610 from Azaezel/alpha41/physicsFindings

physics findings

Engine/source/T3D/item.cpp

@@ -658,9 +658,9 @@ void Item::updateWorkingCollisionSet(const U32 mask, const F32 dt)
 {
    // It is assumed that we will never accelerate more than 10 m/s for gravity...
    //
-   Point3F scaledVelocity = mVelocity * dt;
+   Point3F scaledVelocity = mVelocity * dt * TickSec;
    F32 len    = scaledVelocity.len();
-   F32 newLen = len + (10 * dt);
+   F32 newLen = len + (mDataBlock->getShape()->mRadius * dt * TickSec);
 
    // Check to see if it is actually necessary to construct the new working list,
    //  or if we can use the cached version from the last query.  We use the x

Engine/source/T3D/player.cpp

@@ -6097,7 +6097,7 @@ void Player::updateWorkingCollisionSet()
    // box by the possible movement in that tick.
    Point3F scaledVelocity = mVelocity * TickSec;
    F32 len    = scaledVelocity.len();
-   F32 newLen = len + (10.0f * TickSec);
+   F32 newLen = len + (mDataBlock->getShape()->mRadius * TickSec);
 
    // Check to see if it is actually necessary to construct the new working list,
    // or if we can use the cached version from the last query.  We use the x

Engine/source/T3D/rigid.cpp

@@ -47,8 +47,8 @@ Rigid::Rigid()
    friction = 0.5f;
    atRest = false;
 
-   sleepLinearThreshold = 0.0004f;
+   sleepLinearThreshold = POINT_EPSILON;
-   sleepAngThreshold = 0.0004f;
+   sleepAngThreshold = POINT_EPSILON;
    sleepTimeThreshold = 0.75f;
    sleepTimer = 0.0f;
 }
@@ -71,7 +71,7 @@ void Rigid::integrate(F32 delta)
    linVelocity = linMomentum * oneOverMass;
 
    // 2. advance orientation if ang vel significant
-   F32 angle = angVelocity.len();
+   F32 angle = angVelocity.len()*delta;
    if (mFabs(angle)> POINT_EPSILON)
    {
       QuatF dq;
@@ -101,7 +101,7 @@ void Rigid::integrate(F32 delta)
    }
 
    // 5. refresh ang velocity
-   updateAngularVelocity();
+   updateAngularVelocity(delta);
 
 
    // 6. CoM update
@@ -138,7 +138,7 @@ void Rigid::updateCenterOfMass()
 
 void Rigid::applyImpulse(const Point3F &r, const Point3F &impulse)
 {
-   if (impulse.lenSquared() < mass) return;
+   if ((impulse.lenSquared() - mass) < POINT_EPSILON) return;
    wake();
 
    // Linear momentum and velocity
@@ -304,7 +304,8 @@ void Rigid::trySleep(F32 dt)
    // If there is active force/torque, don’t sleep
    if (!force.isZero() || !torque.isZero())
    {
-      sleepTimer = 0.0f; return;
+      sleepTimer = 0.0f;
+      return;
    }
 
    const F32 linV2 = linVelocity.lenSquared();

Engine/source/T3D/rigid.h

@@ -105,7 +105,7 @@ public:
    //
    void setSleepThresholds(F32 linVel2, F32 angVel2, F32 timeToSleep);
    void wake();
-   TORQUE_FORCEINLINE void updateAngularVelocity() { invWorldInertia.mulV(angMomentum, &angVelocity); }
+   TORQUE_FORCEINLINE void updateAngularVelocity(F32 delta) { Point3F deltaVel = angVelocity * delta; invWorldInertia.mulV(angMomentum, &deltaVel); }
 };
 
 

Engine/source/T3D/rigidShape.cpp

@@ -1138,7 +1138,7 @@ void RigidShape::updatePos(F32 dt)
 
    // Update collision information based on our current pos.
    bool collided = false;
-   if (!mDisableMove)
+   if (!mRigid.atRest && !mDisableMove)
    {
       collided = updateCollision(dt);
 
@@ -1151,7 +1151,7 @@ void RigidShape::updatePos(F32 dt)
       {
          F32 k = mRigid.getKineticEnergy();
          F32 G = mNetGravity* dt * TickMs / mDataBlock->integration;
-         F32 Kg = mRigid.mass * G * G;
+         F32 Kg = mRigid.mass * G * G * TickSec;
          if (k < sRestTol * Kg && ++restCount > sRestCount)
             mRigid.setAtRest();
       }
@@ -1447,7 +1447,7 @@ void RigidShape::updateWorkingCollisionSet(const U32 mask)
    // working list is updated on a Tick basis, which means we only expand our box by
    // the possible movement in that tick, plus some extra for caching purposes
    Box3F convexBox = mConvex.getBoundingBox(getTransform(), getScale());
-   F32 len = (mRigid.linVelocity.len() + 50) * TickSec;
+   F32 len = (mRigid.linVelocity.len() + mDataBlock->getShape()->mRadius) * TickSec;
    F32 l = (len * 1.1) + 0.1;  // fudge factor
    convexBox.minExtents -= Point3F(l, l, l);
    convexBox.maxExtents += Point3F(l, l, l);

Engine/source/T3D/vehicles/vehicle.cpp

@@ -827,7 +827,7 @@ void Vehicle::updatePos(F32 dt)
       {
          F32 k = mRigid.getKineticEnergy();
          F32 G = mNetGravity* dt * TickMs / mDataBlock->integration;
-         F32 Kg = 0.5 * mRigid.mass * G * G;
+         F32 Kg = mRigid.mass * G * G * TickSec;
          if (k < sRestTol * Kg && ++restCount > sRestCount)
             mRigid.setAtRest();
       }