);
state.pos += f.vel * dt;
state.vel += f.acc * dt;
+ situation.EnforceConstraints(state);
if (length2(state.vel) > 0.000001) {
glm::dvec3 nvel(normalize(state.vel));
double ang = angle(nvel, state.dir);
- double turn_rate = PI * 0.5 * dt;
+ double turn_rate = PI * 0.75 * dt;
if (ang < turn_rate) {
state.dir = normalize(state.vel);
} else if (std::abs(ang - PI) < 0.001) {
}
}
situation.SetState(state);
- stats.Exhaustion().Add(length(f.acc) * Mass() / Stamina() * dt);
+ stats.Exhaustion().Add(length(f.acc) * Mass() / Stamina() * 0.5 * dt);
}
Situation::Derivative Creature::Step(const Situation::Derivative &ds, double dt) const noexcept {
Situation::State s = situation.GetState();
s.pos += ds.vel * dt;
s.vel += ds.acc * dt;
+ glm::dvec3 force(steering.Force(s));
+ // gravity = antinormal * mass * Gm / r²
+ double elevation = s.pos[(situation.Surface() + 2) % 3];
+ glm::dvec3 normal(world::Planet::SurfaceNormal(situation.Surface()));
+ force += glm::dvec3(
+ -normal
+ * Mass() * situation.GetPlanet().GravitationalParameter()
+ / (elevation * elevation));
+ // if net force is applied and in contact with surface
+ if (!allzero(force) && std::abs(std::abs(elevation) - situation.GetPlanet().Radius()) < 0.001) {
+ // apply friction = -|normal force| * tangential force * coefficient
+ glm::dvec3 fn(normal * dot(force, normal));
+ glm::dvec3 ft(force - fn);
+ double u = 0.4;
+ glm::dvec3 friction(-length(fn) * ft * u);
+ force += friction;
+ }
return {
s.vel,
- steering.Force(s) / Mass()
+ force / Mass()
};
}
// TODO: duplicate situation somehow
a->GetSituation().SetPlanetSurface(
s.GetPlanet(), s.Surface(),
- s.Position() + glm::dvec3(0.0, a->Size() + 0.1, 0.0));
+ s.Position() + glm::dvec3(0.0, 0.55 * a->Size(), 0.0));
a->BuildVAO();
std::cout << "[" << int(c.GetSimulation().Time()) << "s] "
<< a->Name() << " was born" << std::endl;
s.GetPlanet().AddCreature(b);
b->GetSituation().SetPlanetSurface(
s.GetPlanet(), s.Surface(),
- s.Position() + glm::dvec3(0.0, b->Size() - 0.1, 0.0));
+ s.Position() - glm::dvec3(0.0, 0.55 * b->Size(), 0.0));
b->BuildVAO();
std::cout << "[" << int(c.GetSimulation().Time()) << "s] "
<< b->Name() << " was born" << std::endl;
void Situation::Move(const glm::dvec3 &dp) noexcept {
state.pos += dp;
+ EnforceConstraints(state);
+}
+
+void Situation::Accelerate(const glm::dvec3 &dv) noexcept {
+ state.vel += dv;
+ EnforceConstraints(state);
+}
+
+void Situation::EnforceConstraints(State &s) noexcept {
if (OnSurface()) {
- // enforce ground constraint
if (Surface() < 3) {
- state.pos[(Surface() + 2) % 3] = std::max(0.0, state.pos[(Surface() + 2) % 3]);
+ if (s.pos[(Surface() + 2) % 3] < GetPlanet().Radius()) {
+ s.pos[(Surface() + 2) % 3] = GetPlanet().Radius();
+ s.vel[(Surface() + 2) % 3] = std::max(0.0, s.vel[(Surface() + 2) % 3]);
+ }
} else {
- state.pos[(Surface() + 2) % 3] = std::min(0.0, state.pos[(Surface() + 2) % 3]);
+ if (s.pos[(Surface() + 2) % 3] > -GetPlanet().Radius()) {
+ s.pos[(Surface() + 2) % 3] = -GetPlanet().Radius();
+ s.vel[(Surface() + 2) % 3] = std::min(0.0, s.vel[(Surface() + 2) % 3]);
+ }
}
}
}
planet = &p;
surface = srf;
state.pos = pos;
+ EnforceConstraints(state);
}
}
void Steering::ResumeSeparate() noexcept {
- separating = false;
+ separating = true;
}
void Steering::Halt() noexcept {