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minor tweak to how ContactPoint is updated

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This commit is contained in:
Andrew Meadows 2014-08-13 14:50:25 -07:00
parent 2f1a56a87c
commit b177686f74
1 changed files with 6 additions and 5 deletions
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11
libraries/shared/src/ContactPoint.cpp
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@ -133,8 +133,8 @@ void ContactPoint::buildConstraints() {
glm::vec3 perpDelta = delta - paraDelta;
// use the relative sizes of the components to decide how much perpenducular delta to use
// perpendicular < parallel ==> static friciton ==> perpFactor = 1.0
// perpendicular > parallel ==> dynamic friciton ==> cap to length of paraDelta ==> perpFactor < 1.0
// perpendicular < parallel ==> static friction ==> perpFactor = 1.0
// perpendicular > parallel ==> dynamic friction ==> cap to length of paraDelta ==> perpFactor < 1.0
float paraLength = glm::length(paraDelta);
float perpLength = glm::length(perpDelta);
float perpFactor = (perpLength > paraLength && perpLength > EPSILON) ? (paraLength / perpLength) : 1.0f;
@ -146,6 +146,10 @@ void ContactPoint::buildConstraints() {
_distances[i] = glm::distance(_contactPoint, targetPosition);
point->_position += HACK_STRENGTH * delta;
}
} else {
for (int i = 0; i < _numPoints; ++i) {
_distances[i] = glm::length(glm::length(_offsets[i]));
}
}
}
@ -179,9 +183,6 @@ void ContactPoint::updateContact(const CollisionInfo& collision, quint32 frame)
_offsetA = pointA - collision._shapeA->getTranslation();
_offsetB = pointB - collision._shapeB->getTranslation();
// _contactPoint will be the weighted average of the two
_contactPoint = _relativeMassA * pointA + _relativeMassB * pointB;
// compute offsets for shapeA
assert(_offsets.size() == _numPoints);
for (int i = 0; i < _numPointsA; ++i) {