X-Git-Url: https://harrygodden.com/git/?a=blobdiff_plain;f=rigidbody.h;h=026d8676dbd0cbccab6b7174c2a1498626ce2e77;hb=4625f91b85d2badbb719a7f5bcaa2426af25911b;hp=5d5ffdfa4290c10ba4b7f692ed5dec0801e717d3;hpb=def76bcdaea4e73faab70c60d8ee48a00f2fb48a;p=carveJwlIkooP6JGAAIwe30JlM.git

diff --git a/rigidbody.h b/rigidbody.h
index 5d5ffdf..026d867 100644
--- a/rigidbody.h
+++ b/rigidbody.h
@@ -25,10 +25,11 @@ static const float
    k_friction         = 0.6f,
    k_damp_linear      = 0.05f,               /* scale velocity 1/(1+x) */
    k_damp_angular     = 0.1f,                /* scale angular  1/(1+x) */
-   k_limit_bias       = 0.04f,
+   k_limit_bias       = 0.02f,
    k_joint_bias       = 0.08f,               /* positional joints */
    k_joint_correction = 0.01f,
-   k_penetration_slop = 0.01f;
+   k_penetration_slop = 0.01f,
+   k_inertia_scale    = 4.0f;
 
 /* 
  * -----------------------------------------------------------------------------
@@ -382,7 +383,7 @@ static void rb_init( rigidbody *rb )
       v3_muls( extent, 0.5f, extent );
 
       /* local intertia tensor */
-      float scale = 4.0f;
+      float scale = k_inertia_scale;
       float ex2 = scale*extent[0]*extent[0],
             ey2 = scale*extent[1]*extent[1],
             ez2 = scale*extent[2]*extent[2];
@@ -1859,6 +1860,23 @@ static void rb_constraint_position( rigidbody *ra, v3f lca,
    }
 }
 
+/* 
+ * Effectors
+ */
+
+static void rb_effect_simple_bouyency( rigidbody *ra, v4f plane, 
+                                       float amt, float drag )
+{
+   /* float */
+   float depth  = v3_dot( plane, ra->co ) - plane[3],
+         lambda = vg_clampf( -depth, 0.0f, 1.0f ) * amt;
+
+   v3_muladds( ra->v, plane, lambda * ktimestep, ra->v );
+
+   if( depth < 0.0f )
+      v3_muls( ra->v, 1.0f-(drag*ktimestep), ra->v );
+}
+
 /*
  * -----------------------------------------------------------------------------
  * BVH implementation, this is ONLY for static rigidbodies, its to slow for