physics findings

rigid: main finding is rigid needs to take delta into account for integration (aka interpolation)
also used POINT_EPSILON for thresholds for consistency

for rigidshape/item/player, main finding was length calcs for the search area were all over the place,
so we now derive the extended length of the cached area based on the velocity and the object's radius itself rather than guessin per class

atrest gravity calc suplimental syncing between rigidshape and vehicle

**remindernote POINT_EPSILO is 0.0001

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;
-   sleepAngThreshold = 0.0004f;
+   sleepLinearThreshold = POINT_EPSILON;
+   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();
       }