TorqueGameEngines/Torque3D
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cancel out momentums during updateforces if disablemove

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increment forces on a per-contact basis, not a batch basis
This commit is contained in:
AzaezelX 2023-12-30 16:16:29 -06:00
parent e7b3a95f89
commit 93abe5a49c
1 changed files with 10 additions and 10 deletions
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20
Engine/source/T3D/rigidShape.cpp
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@ -1207,8 +1207,12 @@ void RigidShape::updatePos(F32 dt)
void RigidShape::updateForces(F32 dt) void RigidShape::updateForces(F32 dt)
{ {
if (mDisableMove) return; if (mDisableMove)
{
mRigid.linVelocity = Point3F::Zero;
mRigid.angMomentum = Point3F::Zero;
return;
}
Point3F torque(0, 0, 0); Point3F torque(0, 0, 0);
Point3F force(0, 0, mRigid.mass * mNetGravity); Point3F force(0, 0, mRigid.mass * mNetGravity);
@ -1273,7 +1277,6 @@ bool RigidShape::resolveCollision(Rigid& ns,CollisionList& cList, F32 dt)
PROFILE_SCOPE(RigidShape_resolveCollision); PROFILE_SCOPE(RigidShape_resolveCollision);
// Apply impulses to resolve collision // Apply impulses to resolve collision
bool collided = false; bool collided = false;
Point3F t, p(0, 0, 0), l(0, 0, 0);
for (S32 i = 0; i < cList.getCount(); i++) for (S32 i = 0; i < cList.getCount(); i++)
{ {
Collision& c = cList[i]; Collision& c = cList[i];
@ -1318,6 +1321,7 @@ bool RigidShape::resolveCollision(Rigid& ns,CollisionList& cList, F32 dt)
// "constraints". // "constraints".
else else
{ {
Point3F t;
// Penetration force. This is actually a spring which // Penetration force. This is actually a spring which
// will seperate the body from the collision surface. // will seperate the body from the collision surface.
F32 zi = 2 * mFabs(mRigid.getZeroImpulse(r, c.normal) / dt); F32 zi = 2 * mFabs(mRigid.getZeroImpulse(r, c.normal) / dt);
@ -1340,17 +1344,13 @@ bool RigidShape::resolveCollision(Rigid& ns,CollisionList& cList, F32 dt)
} }
// Accumulate forces // Accumulate forces
p += f;
mCross(r, f, &t); mCross(r, f, &t);
l += t; ns.linMomentum += f * dt;
ns.angMomentum += t * dt;
ns.updateVelocity();
} }
} }
} }
// Contact constraint forces act over time...
ns.linMomentum += p * dt;
ns.angMomentum += l * dt;
ns.updateVelocity();
return collided; return collided;