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clean out resolvecontacts entirely

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AzaezelX 2023-12-28 21:28:23 -06:00
parent 783a757427
commit f3af564dee
2 changed files with 0 additions and 68 deletions
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67
Engine/source/T3D/rigidShape.cpp
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@ -1259,7 +1259,6 @@ bool RigidShape::updateCollision(F32 dt)
// Resolve collisions // Resolve collisions
bool collided = resolveCollision(mRigid,mCollisionList, dt); bool collided = resolveCollision(mRigid,mCollisionList, dt);
//resolveContacts(mRigid,mCollisionList,dt);
return collided; return collided;
} }
@ -1357,72 +1356,6 @@ bool RigidShape::resolveCollision(Rigid& ns,CollisionList& cList, F32 dt)
return collided; return collided;
} }
//----------------------------------------------------------------------------
/** Resolve contact forces
Resolve contact forces using the "penalty" method. Forces are generated based
on the depth of penetration and the moment of inertia at the point of contact.
*/
bool RigidShape::resolveContacts(Rigid& ns,CollisionList& cList,F32 dt)
{
PROFILE_SCOPE(RigidShape_resolveContacts);
// Use spring forces to manage contact constraints.
bool collided = false;
Point3F t,p(0,0,0),l(0,0,0);
for (S32 i = 0; i < cList.getCount(); i++)
{
const Collision& c = cList[i];
if (c.distance < mDataBlock->collisionTol)
{
// Velocity into the surface
Point3F v,r;
ns.getOriginVector(c.point,&r);
ns.getVelocity(r,&v);
F32 vn = mDot(v,c.normal);
// Only interested in velocities less than mDataBlock->contactTol,
// velocities greater than that are dealt with as collisions.
if (mFabs(vn) < mDataBlock->contactTol)
{
collided = true;
// Penetration force. This is actually a spring which
// will seperate the body from the collision surface.
F32 zi = 2 * mFabs(mRigid.getZeroImpulse(r,c.normal) / dt);
F32 s = (mDataBlock->collisionTol - c.distance) * zi - ((vn / mDataBlock->contactTol) * zi);
Point3F f = c.normal * s;
// Friction impulse, calculated as a function of the
// amount of force it would take to stop the motion
// perpendicular to the normal.
Point3F uv = v - (c.normal * vn);
F32 ul = uv.len();
if (s > 0 && ul)
{
uv /= -ul;
F32 u = ul * ns.getZeroImpulse(r,uv) / dt;
s *= mRigid.friction;
if (u > s)
u = s;
f += uv * u;
}
// Accumulate forces
p += f;
mCross(r,f,&t);
l += t;
}
}
}
// Contact constraint forces act over time...
ns.linMomentum += p * dt;
ns.angMomentum += l * dt;
ns.updateVelocity();
return true;
}
//---------------------------------------------------------------------------- //----------------------------------------------------------------------------
bool RigidShape::resolveDisplacement(Rigid& ns,CollisionState *state, F32 dt) bool RigidShape::resolveDisplacement(Rigid& ns,CollisionState *state, F32 dt)

1
Engine/source/T3D/rigidShape.h
View file

@ -217,7 +217,6 @@ class RigidShape: public ShapeBase
void updatePos(F32 dt); void updatePos(F32 dt);
bool updateCollision(F32 dt); bool updateCollision(F32 dt);
bool resolveCollision(Rigid& ns,CollisionList& cList, F32 dt); bool resolveCollision(Rigid& ns,CollisionList& cList, F32 dt);
bool resolveContacts(Rigid& ns,CollisionList& cList, F32 dt);
bool resolveDisplacement(Rigid& ns,CollisionState *state,F32 dt); bool resolveDisplacement(Rigid& ns,CollisionState *state,F32 dt);
void checkTriggers(); void checkTriggers();
static void findCallback(SceneObject* obj,void * key); static void findCallback(SceneObject* obj,void * key);