get rid of angular velocity

[blank.git] / src / world / world.cpp

diff --git a/src/world/world.cpp b/src/world/world.cpp
index 349b82d00233e5d67fe3d6a6a1d7aa3f178ffde3..18853914b5536aa4427751af9270ffd59a25db17 100644 (file)
--- a/src/world/world.cpp
+++ b/src/world/world.cpp
@@ -71,8 +71,7 @@ EntityState::EntityState()
 : chunk_pos(0)
 , block_pos(0.0f)
 , velocity(0.0f)
-, orient(1.0f, 0.0f, 0.0f, 0.0f)
-, ang_vel(0.0f) {
+, orient(1.0f, 0.0f, 0.0f, 0.0f) {
 
 }
 
@@ -370,21 +369,6 @@ void World::Update(int dt) {
        }
 }
 
-namespace {
-
-glm::quat delta_rot(const glm::vec3 &av, float dt) {
-       glm::vec3 half(av * dt * 0.5f);
-       float mag = length(half);
-       if (mag > 0.0f) {
-               float smag = std::sin(mag) / mag;
-               return glm::quat(std::cos(mag), half * smag);
-       } else {
-               return glm::quat(1.0f, 0.0f, 0.0f, 0.0f);
-       }
-}
-
-}
-
 void World::Update(Entity &entity, float dt) {
        EntityState state(entity.GetState());
 
@@ -397,11 +381,9 @@ void World::Update(Entity &entity, float dt) {
        constexpr float sixth = 1.0f / 6.0f;
        f.position = sixth * ((a.position + 2.0f * (b.position + c.position)) + d.position);
        f.velocity = sixth * ((a.velocity + 2.0f * (b.velocity + c.velocity)) + d.velocity);
-       f.orient = sixth * ((a.orient + 2.0f * (b.orient + c.orient)) + d.orient);
 
        state.block_pos += f.position * dt;
        state.velocity += f.velocity * dt;
-       state.orient = delta_rot(f.orient, dt) * state.orient;
        state.AdjustPosition();
 
        entity.SetState(state);
@@ -416,7 +398,6 @@ EntityDerivative World::CalculateStep(
        EntityState next(cur);
        next.block_pos += delta.position * dt;
        next.velocity += delta.velocity * dt;
-       next.orient = delta_rot(cur.ang_vel, dt) * cur.orient;
        next.AdjustPosition();
 
        EntityDerivative out;
@@ -468,14 +449,28 @@ glm::vec3 World::CollisionForce(
                        min_pen = min(min_pen, local_pen);
                        max_pen = max(max_pen, local_pen);
                }
-               glm::vec3 penetration(min_pen + max_pen);
-               glm::vec3 normal(normalize(penetration) * -1.0f);
+               glm::vec3 correction(0.0f);
+               // only apply correction for axes where penetration is only in one direction
+               for (std::size_t i = 0; i < 3; ++i) {
+                       if (min_pen[i] < -std::numeric_limits<float>::epsilon()) {
+                               if (max_pen[i] < std::numeric_limits<float>::epsilon()) {
+                                       correction[i] = -min_pen[i];
+                               }
+                       } else {
+                               correction[i] = -max_pen[i];
+                       }
+               }
+               // correction may be zero in which case normalize() returns NaNs
+               if (dot(correction, correction) < std::numeric_limits<float>::epsilon()) {
+                       return glm::vec3(0.0f);
+               }
+               glm::vec3 normal(normalize(correction));
                glm::vec3 normal_velocity(normal * dot(state.velocity, normal));
                // apply force proportional to penetration
                // use velocity projected onto normal as damper
                constexpr float k = 1000.0f; // spring constant
-               constexpr float b = 100.0f; // damper constant
-               const glm::vec3 x(penetration); // endpoint displacement from equilibrium in m
+               constexpr float b = 10.0f; // damper constant
+               const glm::vec3 x(-correction); // endpoint displacement from equilibrium in m
                const glm::vec3 v(normal_velocity); // relative velocity between endpoints in m/s
                return (((-k) * x) - (b * v)); // times 1kg/s, in kg*m/s²
        } else {