void BallNode::Update(float msec) {
msec = msec * 0.01f;
if(!atRest){
Vector3 acceleration = (m_force+m_gravity)*m_invMass;
m_linearVelocity = m_linearVelocity + acceleration*msec;
m_position = m_position + m_linearVelocity*msec;
m_force = Vector3(0,0,0);
Vector3 AngularAcceleration = m_invInertia.GetScalingVector()*m_torque;
m_angularVelocity = m_angularVelocity + AngularAcceleration * msec;
m_orientation = m_orientation * Quaternion::EulerAnglesToQuaternion(m_angularVelocity.x,m_angularVelocity.y,m_angularVelocity.z);
m_torque = Vector3(0,0,0);
s1->radius = m_colli_radius;
collBox->halfdims = Vector3(m_colli_radius);
s1->pos = m_position;
collBox->pos = m_position;
m_linearVelocity = Vector3(0.9999)*m_linearVelocity;
m_angularVelocity = Vector3(0.9999)*m_angularVelocity;
//Sleep Hack
float sleepSpeed = 1.0f;
if(m_linearVelocity.x < sleepSpeed && m_linearVelocity.x > -sleepSpeed){
if(m_linearVelocity.y < sleepSpeed && m_linearVelocity.y > -sleepSpeed){
if(m_linearVelocity.z < sleepSpeed && m_linearVelocity.z > -sleepSpeed){
atRest = true;
}
}
}
//Bounderies - The Walls!
if(true){
if(m_position.y > 4096){
m_linearVelocity.y = -abs(m_linearVelocity.y);
}
if(m_position.x < 0){
m_linearVelocity.x = abs(m_linearVelocity.x);
}
if(m_position.x > 4096){
m_linearVelocity.x = -abs(m_linearVelocity.x);
}
if(m_position.z < 0){
m_linearVelocity.z = abs(m_linearVelocity.z);
}
if(m_position.z >4096){
m_linearVelocity.z = -abs(m_linearVelocity.z);
}
if(m_position.y < -500){
m_linearVelocity.y = abs(m_linearVelocity.y);
//m_position.y = 50;
}
}
}
if(target) { target->SetTransform(BuildTransform());}
}
//You will perform your per-object physics integration, here!
//I've added in a bit that will set the transform of the
//graphical representation of this object, too.
void PhysicsNode::Update(float msec){
//FUN GOES HERE
if (!m_rest && !fixed){
//Need to involve inverse mass here...
m_linearVelocity += ((m_force * m_invMass * msec) + (m_constantAccel * msec)) * DAMPING_FACTOR;
m_position += (m_linearVelocity * msec);
m_angularVelocity += ( (m_invInertia * m_torque) * msec) * DAMPING_FACTOR;
m_orientation = m_orientation + (m_orientation * (m_angularVelocity * msec * 0.5f));
m_orientation.Normalise();
m_linearVelocity *= VELOCITY_DAMPING;
m_angularVelocity *= VELOCITY_DAMPING;
m_force = Vector3(0,0,0);
m_torque = Vector3(0,0,0);
//TODO: Should update collision volumes here if an object gets set to rest...
// otherwise they could be mistakenly woken up! ... Very unlikely though!
if (abs(m_linearVelocity.x) < REST_TOLERANCE &&
abs(m_linearVelocity.y) < REST_TOLERANCE &&
abs(m_linearVelocity.z) < REST_TOLERANCE &&
abs(m_force.x) < REST_TOLERANCE &&
abs(m_force.y) < REST_TOLERANCE &&
abs(m_force.z) < REST_TOLERANCE &&
abs(m_constantAccel.x) < REST_TOLERANCE &&
abs(m_constantAccel.y) < REST_TOLERANCE &&
abs(m_constantAccel.z) < REST_TOLERANCE)
m_rest = true;
}
if(target) {
target->SetTransform(BuildTransform());
target->SetModelScale(m_scale);
}
}
void PhysicsNode::UpdateTransform()
{
if(target) {
target->SetTransform(BuildTransform());
}
}
