void Ball::Collide3DWall(const Vertex3Ds& hitNormal, const float elasticity, float antifriction, float scatter_angle)
{
//speed normal to wall
float dot = vel.Dot(hitNormal);
if (dot >= -C_LOWNORMVEL ) // nearly receding ... make sure of conditions
{ // otherwise if clearly approaching .. process the collision
if (dot > C_LOWNORMVEL) return; //is this velocity clearly receding (i.e must > a minimum)
#ifdef C_EMBEDDED
if (m_coll.distance < -C_EMBEDDED)
dot = -C_EMBEDSHOT; // has ball become embedded???, give it a kick
else return;
#endif
}
#ifdef C_DISP_GAIN
// correct displacements, mostly from low velocity, alternative to acceleration processing
float hdist = -C_DISP_GAIN * m_coll.distance; // limit delta noise crossing ramps,
if (hdist > 1.0e-4f) // when hit detection checked it what was the displacement
{
if (hdist > C_DISP_LIMIT)
hdist = C_DISP_LIMIT; // crossing ramps, delta noise
pos += hdist * hitNormal; // push along norm, back to free area
// use the norm, but this is not correct, reverse time is correct
}
#endif
dot *= -1.005f - elasticity; //!! some small minimum
vel += dot * hitNormal;
if (antifriction >= 1.0f || antifriction <= 0.0f)
antifriction = c_hardFriction; // use global
//friction all axes
vel *= antifriction;
if (scatter_angle <= 0.0f) scatter_angle = c_hardScatter; // if <= 0 use global value
scatter_angle *= g_pplayer->m_ptable->m_globalDifficulty; // apply difficulty weighting
if (dot > 1.0f && scatter_angle > 1.0e-5f) //no scatter at low velocity
{
float scatter = rand_mt_m11(); // -1.0f..1.0f
scatter *= (1.0f - scatter*scatter)*2.59808f * scatter_angle; // shape quadratic distribution and scale
const float radsin = sinf(scatter); // Green's transform matrix... rotate angle delta
const float radcos = cosf(scatter); // rotational transform from current position to position at time t
const float vxt = vel.x;
const float vyt = vel.y;
vel.x = vxt *radcos - vyt *radsin; // rotate to random scatter angle
vel.y = vyt *radcos + vxt *radsin;
}
//calc new rolling dynamics
AngularAcceleration(hitNormal);
}
void Ball::UpdateDisplacements(const float dtime)
{
if (!fFrozen)
{
const Vertex3Ds ds = dtime * vel;
pos += ds;
drsq = ds.LengthSquared(); // used to determine if static ball
if (vel.z < 0.f && pos.z <= z_min) //rolling point below the table and velocity driving deeper
{
pos.z = z_min; // set rolling point to table surface
vel.z *= -0.2f; // reflect velocity ... dull bounce
vel.x *= c_hardFriction;
vel.y *= c_hardFriction; //friction other axiz
const Vertex3Ds vnormal(0.0f,0.0f,1.0f);
AngularAcceleration(vnormal);
}
else if (vel.z > 0.f && pos.z >= z_max) //top glass ...contact and going higher
{
pos.z = z_max; // set diametric rolling point to top glass
vel.z *= -0.2f; // reflect velocity ... dull bounce
}
// side walls are handled via actual collision objects set up in Player::CreateBoundingHitShapes
CalcHitRect();
Matrix3 mat3;
mat3.CreateSkewSymmetric(m_angularvelocity);
Matrix3 addedorientation;
addedorientation.MultiplyMatrix(&mat3, &m_orientation);
addedorientation.MultiplyScalar(dtime);
m_orientation.AddMatrix(&addedorientation, &m_orientation);
m_orientation.OrthoNormalize();
Matrix3 matTransposeOrientation;
m_orientation.Transpose(&matTransposeOrientation);
m_inverseworldinertiatensor.MultiplyMatrix(&m_orientation,&m_inversebodyinertiatensor);
m_inverseworldinertiatensor.MultiplyMatrix(&m_inverseworldinertiatensor,&matTransposeOrientation);
m_angularvelocity = m_inverseworldinertiatensor.MultiplyVector(m_angularmomentum);
}
}
int main()
{
// double d;
// cin >> d;
Speed v1 = 10.m/2.5s;
Speed v2 = 5.m/2.5s;
Time dist = (v1+v2) * 10.s / v2;
cout << v1 << endl;
cout << v2 << endl;
cout << 10.m << endl;
cout << 20.s << endl;
cout << dist << endl;
Speed sum_v = v1 + v2;
cout << (v1 + v2) / 2.s << endl;
cout << AngularAcceleration(5000) << endl;
return 0;
}
