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Added override for simulating gravity in SimulateBody method

This commit is contained in:
Diren D Bharwani 2023-03-09 21:18:05 +08:00
parent 5cd6b927e6
commit 97013ba73c
2 changed files with 3 additions and 4 deletions
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6
SHADE_Engine/src/Physics/System/SHPhysicsSystem.cpp
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@ -275,8 +275,6 @@ namespace SHADE
for (size_t i = 0; i < SHVec3::SIZE; ++i)
localInvInertia[i] = 1.0f / localInvInertia[i];
// Build raycast layer from colliders. If none exist....then this never stops simulating technically.
// I'm too lazy to handle that case, so I'll just throw an error.
uint16_t raycastLayers = 0;
@ -302,7 +300,7 @@ namespace SHADE
int iterationCounter = simInfo.maxSteps;
do
{
raycastInfo.distance = linearVelocity.Length();
raycastInfo.distance = linearVelocity.Length() * simInfo.timeStep; // Do not take the entire velocity's length as that is for an entire second.
raycastInfo.ray.position = bodyPosition;
raycastInfo.ray.direction = SHVec3::Normalise(linearVelocity);
@ -337,7 +335,7 @@ namespace SHADE
// Integrate Velocities
// Integrate forces and gravity into linear velocity
const SHVec3 LINEAR_ACCELERATION = accumulatedForce * invMass;
const SHVec3 GRAVITATIONAL_ACCELERATION = rigidBody->IsGravityEnabled() ? worldState.settings.gravity * rigidBody->GetGravityScale() : SHVec3::Zero;
const SHVec3 GRAVITATIONAL_ACCELERATION = simInfo.simulateGravity ? worldState.settings.gravity * rigidBody->GetGravityScale() : SHVec3::Zero;
linearVelocity += (LINEAR_ACCELERATION + GRAVITATIONAL_ACCELERATION) * simInfo.timeStep * LINEAR_LOCK;
angularVelocity += worldInvInertia * (accumulatedTorque * simInfo.timeStep);

1
SHADE_Engine/src/Physics/System/SHPhysicsSystem.h
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@ -81,6 +81,7 @@ namespace SHADE
// Whether or not to clear the force after the first iteration
bool continuousForce = false;
bool simulateGravity = true;
float timeStep = static_cast<float>(SHPhysicsConstants::DEFAULT_FIXED_DT);
int maxSteps = -1;
};