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switch from force to acceleration

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Irlan Robson 2018-02-24 15:35:29 -03:00 committed by GitHub
parent a7a96e2678
commit 94770d10bf
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1 changed files with 2 additions and 3 deletions
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src/bounce/dynamics/island.cpp
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@ -125,8 +125,7 @@ void b3Island::Solve(const b3Vec3& gravity, float32 dt, u32 velocityIterations,
if (b->m_type == e_dynamicBody) if (b->m_type == e_dynamicBody)
{ {
// Integrate forces // Integrate forces
b3Vec3 force = b->m_force + b->m_gravityScale * gravity; v += h * (b->m_gravityScale * gravity + b->m_invMass * b->m_force);
v += h * b->m_invMass * force;
// Clear forces // Clear forces
b->m_force.SetZero(); b->m_force.SetZero();
@ -162,7 +161,7 @@ void b3Island::Solve(const b3Vec3& gravity, float32 dt, u32 velocityIterations,
// Solution: v(t) = v0 * exp(-c * t) // Solution: v(t) = v0 * exp(-c * t)
// Step: v(t + dt) = v0 * exp(-c * (t + dt)) = v0 * exp(-c * t) * exp(-c * dt) = v * exp(-c * dt) // Step: v(t + dt) = v0 * exp(-c * (t + dt)) = v0 * exp(-c * t) * exp(-c * dt) = v * exp(-c * dt)
// v2 = exp(-c * dt) * v1 // v2 = exp(-c * dt) * v1
// Padé approximation: // Padé approximation:
// 1 / (1 + c * dt) // 1 / (1 + c * dt)
v *= 1.0f / (1.0f + h * b->m_linearDamping); v *= 1.0f / (1.0f + h * b->m_linearDamping);
w *= 1.0f / (1.0f + h * b->m_angularDamping); w *= 1.0f / (1.0f + h * b->m_angularDamping);