💿🐜 Antkeeper source code
https://antkeeper.com
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68 lines
2.2 KiB
68 lines
2.2 KiB
/*
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* Copyright (C) 2023 Christopher J. Howard
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*
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* This file is part of Antkeeper source code.
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*
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* Antkeeper source code is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* Antkeeper source code is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with Antkeeper source code. If not, see <http://www.gnu.org/licenses/>.
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*/
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#include <engine/physics/kinematics/rigid-body.hpp>
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#include <engine/math/interpolation.hpp>
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#include <algorithm>
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namespace physics {
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void rigid_body::integrate_forces(float dt) noexcept
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{
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// Apply forces
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m_linear_momentum += m_applied_force * dt;
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m_angular_momentum += m_applied_torque * dt;
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// Apply damping
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m_linear_momentum *= std::max<float>(0.0f, 1.0f - m_linear_damping * dt);
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m_angular_momentum *= std::max<float>(0.0f, 1.0f - m_angular_damping * dt);
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// Update velocities
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m_linear_velocity = m_inverse_mass * m_linear_momentum;
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m_angular_velocity = m_inverse_inertia * m_angular_momentum;
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// Clear forces
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m_applied_force = math::fvec3::zero();
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m_applied_torque = math::fvec3::zero();
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}
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void rigid_body::integrate_velocities(float dt) noexcept
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{
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// Record previous state
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m_previous_transform = m_current_transform;
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// Update position
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m_current_transform.translation += m_linear_velocity * dt;
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// Update orientation
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const math::fquat spin = math::fquat{0.0f, m_angular_velocity * 0.5f} * m_current_transform.rotation;
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m_current_transform.rotation = math::normalize(m_current_transform.rotation + spin * dt);
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}
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math::transform<float> rigid_body::interpolate(float alpha) const
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{
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return
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{
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math::lerp(m_previous_transform.translation, m_current_transform.translation, alpha),
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math::nlerp(m_previous_transform.rotation, m_current_transform.rotation, alpha),
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math::lerp(m_previous_transform.scale, m_current_transform.scale, alpha),
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};
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}
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} // namespace physics
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