TorqueGameEngines/Torque3D
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physics findings

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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
This commit is contained in:
AzaezelX 2025-12-13 17:41:21 -06:00
parent af73e79424
commit 4c083d713d
6 changed files with 15 additions and 14 deletions
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13
Engine/source/T3D/rigid.cpp
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@ -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();