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removed hackery from ContactPoint enforcement

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This commit is contained in:
Andrew Meadows 2014-08-14 15:29:57 -07:00
parent 98d27ad2b5
commit 432c14408c
1 changed files with 2 additions and 10 deletions
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12
libraries/shared/src/ContactPoint.cpp
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@ -98,14 +98,6 @@ float ContactPoint::enforce() {
// the contact point will be the average of the two points on the shapes
_contactPoint = 0.5f * (pointA + pointB);
// TODO: Andrew to compute more correct lagrangian weights that provide a more realistic response.
//
// HACK: since the weights are naively equal for all points (which is what the above TODO is about) we
// don't want to use the full-strength delta because otherwise there can be annoying oscillations. We
// reduce this problem by in the short-term by attenuating the delta that is applied, the tradeoff is
// that this makes it easier for limbs to tunnel through during collisions.
const float HACK_STRENGTH = 0.5f;
if (constraintViolation) {
for (int i = 0; i < _numPoints; ++i) {
VerletPoint* point = _points[i];
@ -128,7 +120,7 @@ float ContactPoint::enforce() {
glm::vec3 targetPosition = point->_position + delta;
_distances[i] = glm::distance(_contactPoint, targetPosition);
point->_position += HACK_STRENGTH * delta;
point->_position += delta;
}
} else {
for (int i = 0; i < _numPoints; ++i) {
@ -140,7 +132,7 @@ float ContactPoint::enforce() {
// virtual
void ContactPoint::applyFriction() {
// TODO: Andrew to re-implement this
// TODO: Andrew to re-implement this in a different way
/*
for (int i = 0; i < _numPoints; ++i) {
glm::vec3& position = _points[i]->_position;