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limit action of ContactConstraint to penetration

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This commit is contained in:
Andrew Meadows 2014-08-01 11:11:41 -07:00
parent 9d2744296e
commit 789eeed760
1 changed files with 6 additions and 4 deletions
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10
libraries/shared/src/ContactConstraint.cpp
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@ -44,7 +44,9 @@ float ContactConstraint::enforce() {
glm::vec3 pointA = _shapeA->getTranslation() + _offsetA; glm::vec3 pointA = _shapeA->getTranslation() + _offsetA;
glm::vec3 pointB = _shapeB->getTranslation() + _offsetB; glm::vec3 pointB = _shapeB->getTranslation() + _offsetB;
glm::vec3 penetration = pointA - pointB; glm::vec3 penetration = pointA - pointB;
if (glm::dot(penetration, _normal) > EPSILON) { float pDotN = glm::dot(penetration, _normal);
if (pDotN > EPSILON) {
penetration = (0.99f * pDotN) * _normal;
// NOTE: Shape::computeEffectiveMass() has side effects: computes and caches partial Lagrangian coefficients // NOTE: Shape::computeEffectiveMass() has side effects: computes and caches partial Lagrangian coefficients
// which are then used in the accumulateDelta() calls below. // which are then used in the accumulateDelta() calls below.
float massA = _shapeA->computeEffectiveMass(penetration, pointA); float massA = _shapeA->computeEffectiveMass(penetration, pointA);
@ -56,9 +58,9 @@ float ContactConstraint::enforce() {
} }
// NOTE: Shape::accumulateDelta() uses the coefficients from previous call to Shape::computeEffectiveMass() // NOTE: Shape::accumulateDelta() uses the coefficients from previous call to Shape::computeEffectiveMass()
// and remember that penetration points from A into B // and remember that penetration points from A into B
_shapeA->accumulateDelta(0.99f * massB / totalMass, -penetration); _shapeA->accumulateDelta(massB / totalMass, -penetration);
_shapeB->accumulateDelta(0.99f * massA / totalMass, penetration); _shapeB->accumulateDelta(massA / totalMass, penetration);
return glm::length(penetration); return pDotN;
} }
return 0.0f; return 0.0f;
} }