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Improve side impulse calculation

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This commit is contained in:
Bastiaan Olij 2018-03-30 09:30:38 +11:00
parent 4dbae5a738
commit a36e5951ff
2 changed files with 9 additions and 5 deletions
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12
scene/3d/vehicle_body.cpp
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@ -524,7 +524,7 @@ void VehicleBody::_update_suspension(PhysicsDirectBodyState *s) {
//bilateral constraint between two dynamic objects
void VehicleBody::_resolve_single_bilateral(PhysicsDirectBodyState *s, const Vector3 &pos1,
PhysicsBody *body2, const Vector3 &pos2, const Vector3 &normal, real_t &impulse) {
PhysicsBody *body2, const Vector3 &pos2, const Vector3 &normal, real_t &impulse, real_t p_rollInfluence) {
real_t normalLenSqr = normal.length_squared();
//ERR_FAIL_COND( normalLenSqr < real_t(1.1));
@ -582,8 +582,12 @@ void VehicleBody::_resolve_single_bilateral(PhysicsDirectBodyState *s, const Vec
rel_vel = normal.dot(vel);
//TODO: move this into proper structure
real_t contactDamping = real_t(0.4);
// !BAS! We had this set to 0.4, in bullet its 0.2
// real_t contactDamping = real_t(0.2);
// !BAS! But seeing we apply this frame by frame, makes more sense to me to make this time based
// keeping in mind our anti roll factor
real_t contactDamping = s->get_step() / p_rollInfluence;
#define ONLY_USE_LINEAR_MASS
#ifdef ONLY_USE_LINEAR_MASS
real_t massTerm = real_t(1.) / ((1.0 / mass) + b2invmass);
@ -704,7 +708,7 @@ void VehicleBody::_update_friction(PhysicsDirectBodyState *s) {
_resolve_single_bilateral(s, wheelInfo.m_raycastInfo.m_contactPointWS,
wheelInfo.m_raycastInfo.m_groundObject, wheelInfo.m_raycastInfo.m_contactPointWS,
m_axle[i], m_sideImpulse[i]);
m_axle[i], m_sideImpulse[i], wheelInfo.m_rollInfluence);
m_sideImpulse[i] *= sideFrictionStiffness2;
}

2
scene/3d/vehicle_body.h
View file

@ -168,7 +168,7 @@ class VehicleBody : public RigidBody {
btVehicleWheelContactPoint(PhysicsDirectBodyState *s, PhysicsBody *body1, const Vector3 &frictionPosWorld, const Vector3 &frictionDirectionWorld, real_t maxImpulse);
};
void _resolve_single_bilateral(PhysicsDirectBodyState *s, const Vector3 &pos1, PhysicsBody *body2, const Vector3 &pos2, const Vector3 &normal, real_t &impulse);
void _resolve_single_bilateral(PhysicsDirectBodyState *s, const Vector3 &pos1, PhysicsBody *body2, const Vector3 &pos2, const Vector3 &normal, real_t &impulse, real_t p_rollInfluence);
real_t _calc_rolling_friction(btVehicleWheelContactPoint &contactPoint);
void _update_friction(PhysicsDirectBodyState *s);