*/
static const float
- k_rb_rate = 60.0f,
- k_rb_delta = (1.0f/k_rb_rate),
+ k_rb_rate = (1.0/VG_TIMESTEP_FIXED),
+ k_rb_delta = (1.0/k_rb_rate),
k_friction = 0.6f,
k_damp_linear = 0.05f, /* scale velocity 1/(1+x) */
k_damp_angular = 0.1f, /* scale angular 1/(1+x) */
rb_update_bounds( rb );
}
+/*
+ * Extrapolate rigidbody into a transform based on vg accumulator.
+ * Useful for rendering
+ */
+static void rb_extrapolate_transform( rigidbody *rb, m4x3f transform )
+{
+ float substep = vg_clampf( vg.accumulator / k_rb_delta, 0.0f, 1.0f );
+
+ v3f co;
+ v4f q;
+
+ v3_muladds( rb->co, rb->v, k_rb_delta*substep, co );
+
+ if( v3_length2( rb->w ) > 0.0f )
+ {
+ v4f rotation;
+ v3f axis;
+ v3_copy( rb->w, axis );
+
+ float mag = v3_length( axis );
+ v3_divs( axis, mag, axis );
+ q_axis_angle( rotation, axis, mag*k_rb_delta*substep );
+ q_mul( rotation, rb->q, q );
+ q_normalize( q );
+ }
+ else
+ {
+ v4_copy( rb->q, q );
+ }
+
+ q_m3x3( q, transform );
+ v3_copy( co, transform[3] );
+}
+
/*
* Initialize rigidbody and calculate masses, inertia
*/
float depth = v3_dot( plane, ra->co ) - plane[3],
lambda = vg_clampf( -depth, 0.0f, 1.0f ) * amt;
- v3_muladds( ra->v, plane, lambda * VG_TIMESTEP_FIXED, ra->v );
+ v3_muladds( ra->v, plane, lambda * k_rb_delta, ra->v );
if( depth < 0.0f )
- v3_muls( ra->v, 1.0f-(drag*VG_TIMESTEP_FIXED), ra->v );
+ v3_muls( ra->v, 1.0f-(drag*k_rb_delta), ra->v );
}
/*