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activate sprung objects when action strong enough

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This commit is contained in:
Andrew Meadows 2016-01-12 12:53:35 -08:00
parent 2288d96868
commit 6a5a74700f
1 changed files with 7 additions and 6 deletions
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13
libraries/physics/src/ObjectActionSpring.cpp
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@ -62,9 +62,10 @@ void ObjectActionSpring::updateActionWorker(btScalar deltaTimeStep) {
float offsetLength = offset.length();
btVector3 targetVelocity(0.0f, 0.0f, 0.0f);
if (offsetLength > 0) {
float speed = (offsetLength > FLT_EPSILON) ? glm::min(offsetLength / _linearTimeScale, SPRING_MAX_SPEED) : 0.0f;
float speed = (offsetLength > FLT_EPSILON) ? glm::min(offsetLength / _linearTimeScale, SPRING_MAX_SPEED) : 0.0f;
if (speed > rigidBody->getLinearSleepingThreshold()) {
targetVelocity = (-speed / offsetLength) * offset;
rigidBody->activate();
}
// this action is aggresively critically damped and defeats the current velocity
@ -90,10 +91,10 @@ void ObjectActionSpring::updateActionWorker(btScalar deltaTimeStep) {
//
// dQ = Q1 * Q0^
btQuaternion deltaQ = target * bodyRotation.inverse();
float angle = deltaQ.getAngle();
const float MIN_ANGLE = 1.0e-4f;
if (angle > MIN_ANGLE) {
targetVelocity = (angle / _angularTimeScale) * deltaQ.getAxis();
float speed = deltaQ.getAngle() / _angularTimeScale;
if (speed > rigidBody->getAngularSleepingThreshold()) {
targetVelocity = speed * deltaQ.getAxis();
rigidBody->activate();
}
}
// this action is aggresively critically damped and defeats the current velocity