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Tinker with physics again

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This commit is contained in:
Miloslav Ciz 2025-04-23 16:55:34 +02:00
parent b4aa9cd867
commit 0e694589eb
4 changed files with 52 additions and 23 deletions
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46
racing.h
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@ -57,8 +57,8 @@ typedef int32_t LCR_GameUnit; ///< abstract game unit
#define LCR_PHYSICS_UNIT 4096 ///< len. of square for phys. engine
#define TPE_RESHAPE_TENSION_LIMIT 3
#define TPE_RESHAPE_ITERATIONS 7 /**< Empirically tested, seems to have a
#define TPE_RESHAPE_TENSION_LIMIT 8
#define TPE_RESHAPE_ITERATIONS 16 /**< Empirically tested, seems to have a
big impact on bugs that happen when
driving onto a curved ramp under
various angles. */
@ -1128,17 +1128,23 @@ void _LCR_racingWheelAccelerate(unsigned int wheel, TPE_Vec3 dir,
int _LCR_racingCarShapeOK(void)
{
int r = 1;
TPE_Unit bodyTension = 0;
TPE_Connection *c = LCR_racing.carConnections;
for (int i = 0; i < LCR_racing.carBody.jointCount; ++i)
r &= TPE_connectionTension(TPE_dist(
LCR_racing.carBody.joints[
LCR_racing.carBody.connections[i].joint1].position,
LCR_racing.carBody.joints[
LCR_racing.carBody.connections[i].joint2].position),
LCR_racing.carBody.connections[i].length) < TPE_F / 16; // 16: magic con.
for (int i = 0; i < LCR_CAR_CONNECTIONS; ++i) // joint tension
{
bodyTension += TPE_abs(
TPE_connectionTension(
TPE_LENGTH(
TPE_vec3Minus(
LCR_racing.carJoints[c->joint1].position,
LCR_racing.carJoints[c->joint2].position)),
c->length));
return r;
c++;
}
return (bodyTension / LCR_CAR_CONNECTIONS) <= TPE_RESHAPE_TENSION_LIMIT;
}
/**
@ -1444,12 +1450,10 @@ uint32_t LCR_racingStep(unsigned int input)
TPE_Joint joints[LCR_CAR_JOINTS];
if (_LCR_racingCarShapeOK()) // in rare cases this may not hold
LCR_racing.carBody.flags |= TPE_BODY_FLAG_NONROTATING;
else
{
LCR_LOG1("car not OK in non-rotating step");
}
if (!_LCR_racingCarShapeOK())
printf("NOT OOOOOOOOOOOK\n");
LCR_racing.carBody.flags |= TPE_BODY_FLAG_NONROTATING;
for (int i = 0; i < LCR_CAR_JOINTS; ++i)
joints[i] = LCR_racing.carBody.joints[i];
@ -1479,7 +1483,15 @@ uint32_t LCR_racingStep(unsigned int input)
if ((LCR_racing.carBody.flags & TPE_BODY_FLAG_UNRESOLVED) ||
!_LCR_racingCarShapeOK())
{
printf("SASASASSASASASASASASSAS\n");
TPE_bodyStop(&LCR_racing.carBody);
for (int k = 0; k < 2 * TPE_RESHAPE_ITERATIONS; ++k)
TPE_bodyReshape(&LCR_racing.carBody,_LCR_racingEnvironmentFunction);
}
}
}