TorqueGameEngines/Torque3D
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update rigid to work with physics api

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This commit is contained in:
marauder2k7 2026-06-06 16:06:17 +01:00
parent c03cedec6f
commit 839debff57
4 changed files with 454 additions and 151 deletions
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12
Engine/source/T3D/rigid.cpp
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@ -47,8 +47,8 @@ Rigid::Rigid()
friction = 0.5f;
atRest = false;
sleepLinearThreshold = POINT_EPSILON;
sleepAngThreshold = POINT_EPSILON;
sleepLinearThreshold = 0.01f;
sleepAngThreshold = 0.01f;
sleepTimeThreshold = 0.75f;
sleepTimer = 0.0f;
}
@ -76,8 +76,8 @@ void Rigid::integrate(F32 delta)
{
QuatF dq;
F32 sinHalfAngle;
mSinCos(angle * delta * -0.5f, sinHalfAngle, dq.w);
sinHalfAngle *= 1.0f / angle;
mSinCos(angle * -0.5f, sinHalfAngle, dq.w);
sinHalfAngle *= delta / angle;
dq.x = angVelocity.x * sinHalfAngle;
dq.y = angVelocity.y * sinHalfAngle;
dq.z = angVelocity.z * sinHalfAngle;
@ -101,7 +101,7 @@ void Rigid::integrate(F32 delta)
}
// 5. refresh ang velocity
updateAngularVelocity(delta);
updateAngularVelocity();
// 6. CoM update
@ -138,7 +138,7 @@ void Rigid::updateCenterOfMass()
void Rigid::applyImpulse(const Point3F &r, const Point3F &impulse)
{
if ((impulse.lenSquared() - mass) < POINT_EPSILON) return;
if (impulse.lenSquared() < POINT_EPSILON) return;
wake();
// Linear momentum and velocity