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Improve movement inertia

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Handles all 3 axis. Incoming velocity is only added to inertia when
leaving the ground, and does not continually add to it.
This commit is contained in:
Chris Robinson 2013-08-18 05:38:50 -07:00
parent 9d56e2d86d
commit 8c3564326e
3 changed files with 48 additions and 39 deletions
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38
apps/openmw/mwworld/physicssystem.cpp
View File

@ -132,8 +132,10 @@ namespace MWWorld
position.z += halfExtents.z;
OEngine::Physic::ActorTracer tracer;
bool onground = false;
bool wasOnGround = false;
bool isOnGround = false;
const Ogre::Quaternion orient; // Don't rotate actor collision boxes
Ogre::Vector3 inertia(0.0f);
Ogre::Vector3 velocity;
if(!gravity)
{
@ -144,17 +146,19 @@ namespace MWWorld
}
else
{
if(!(movement.z > 0.0f))
tracer.doTrace(colobj, position, position-Ogre::Vector3(0,0,4), engine);
if(tracer.mFraction < 1.0f && getSlope(tracer.mPlaneNormal) <= sMaxSlope)
{
tracer.doTrace(colobj, position, position-Ogre::Vector3(0,0,4), engine);
if(tracer.mFraction < 1.0f && getSlope(tracer.mPlaneNormal) <= sMaxSlope)
onground = true;
wasOnGround = true;
if(!(movement.z > 0.0f))
isOnGround = true;
}
velocity = Ogre::Quaternion(Ogre::Radian(-refpos.rot[2]), Ogre::Vector3::UNIT_Z) * movement;
velocity.z += physicActor->getVerticalForce();
inertia = physicActor->getInertialForce();
velocity = Ogre::Quaternion(Ogre::Radian(-refpos.rot[2]), Ogre::Vector3::UNIT_Z) * movement;
velocity += inertia;
}
if(onground)
if(isOnGround)
{
// if we're on the ground, don't try to fall
velocity.z = std::max(0.0f, velocity.z);
@ -179,7 +183,7 @@ namespace MWWorld
//std::cout<<"angle: "<<getSlope(trace.planenormal)<<"\n";
// We hit something. Try to step up onto it.
if(stepMove(colobj, newPosition, velocity, remainingTime, engine))
onground = gravity;
isOnGround = gravity;
else
{
// Can't move this way, try to find another spot along the plane
@ -195,17 +199,25 @@ namespace MWWorld
}
}
if(onground)
if(isOnGround)
{
tracer.doTrace(colobj, newPosition, newPosition-Ogre::Vector3(0,0,sStepSize+4.0f), engine);
if(tracer.mFraction < 1.0f && getSlope(tracer.mPlaneNormal) <= sMaxSlope)
newPosition.z = tracer.mEndPos.z + 2.0f;
else
onground = false;
isOnGround = false;
}
physicActor->setOnGround(onground);
physicActor->setVerticalForce(!onground ? velocity.z - time*627.2f : 0.0f);
physicActor->setOnGround(isOnGround);
if(isOnGround)
physicActor->setInertialForce(Ogre::Vector3(0.0f));
else
{
if(wasOnGround)
inertia = velocity;
inertia.z -= time*627.2f;
physicActor->setInertialForce(inertia);
}
newPosition.z -= halfExtents.z;
return newPosition;

25
libs/openengine/bullet/physic.cpp
View File

@ -19,7 +19,8 @@ namespace Physic
PhysicActor::PhysicActor(const std::string &name, const std::string &mesh, PhysicEngine *engine, const Ogre::Vector3 &position, const Ogre::Quaternion &rotation, float scale)
: mName(name), mEngine(engine), mMesh(mesh), mBoxScaledTranslation(0,0,0), mBoxRotationInverse(0,0,0,0)
, mBody(0), mRaycastingBody(0), onGround(false), collisionMode(true), mBoxRotation(0,0,0,0), verticalForce(0.0f)
, mBody(0), mRaycastingBody(0), mOnGround(false), mCollisionMode(true), mBoxRotation(0,0,0,0)
, mForce(0.0f)
{
mBody = mEngine->createAndAdjustRigidBody(mMesh, mName, scale, position, rotation, &mBoxScaledTranslation, &mBoxRotation);
mRaycastingBody = mEngine->createAndAdjustRigidBody(mMesh, mName, scale, position, rotation, &mBoxScaledTranslation, &mBoxRotation, true);
@ -45,9 +46,9 @@ namespace Physic
void PhysicActor::enableCollisions(bool collision)
{
assert(mBody);
if(collision && !collisionMode) enableCollisionBody();
if(!collision && collisionMode) disableCollisionBody();
collisionMode = collision;
if(collision && !mCollisionMode) enableCollisionBody();
if(!collision && mCollisionMode) disableCollisionBody();
mCollisionMode = collision;
}
@ -123,24 +124,14 @@ namespace Physic
return Ogre::Vector3(0.0f);
}
void PhysicActor::setVerticalForce(float force)
void PhysicActor::setInertialForce(const Ogre::Vector3 &force)
{
verticalForce = force;
}
float PhysicActor::getVerticalForce() const
{
return verticalForce;
mForce = force;
}
void PhysicActor::setOnGround(bool grounded)
{
onGround = grounded;
}
bool PhysicActor::getOnGround() const
{
return collisionMode && onGround;
mOnGround = grounded;
}
void PhysicActor::disableCollisionBody()

24
libs/openengine/bullet/physic.hpp
View File

@ -104,7 +104,7 @@ namespace Physic
bool getCollisionMode() const
{
return collisionMode;
return mCollisionMode;
}
@ -130,18 +130,24 @@ namespace Physic
Ogre::Vector3 getHalfExtents() const;
/**
* Sets the current amount of vertical force (gravity) affecting this physic actor
* Sets the current amount of inertial force (incl. gravity) affecting this physic actor
*/
void setVerticalForce(float force);
void setInertialForce(const Ogre::Vector3 &force);
/**
* Gets the current amount of vertical force (gravity) affecting this physic actor
* Gets the current amount of inertial force (incl. gravity) affecting this physic actor
*/
float getVerticalForce() const;
const Ogre::Vector3 &getInertialForce() const
{
return mForce;
}
void setOnGround(bool grounded);
bool getOnGround() const;
bool getOnGround() const
{
return mCollisionMode && mOnGround;
}
btCollisionObject *getCollisionBody() const
{
@ -169,9 +175,9 @@ public:
Ogre::Quaternion mBoxRotation;
btQuaternion mBoxRotationInverse;
float verticalForce;
bool onGround;
bool collisionMode;
Ogre::Vector3 mForce;
bool mOnGround;
bool mCollisionMode;
std::string mMesh;
std::string mName;