physics work

assets/Data/entity/creatures/human.json

@@ -148,8 +148,8 @@
             "movementSystems" : [
                 {
                     "type" : "GROUND",
-                    "acceleration" : 4000.0,
-                    "maxVelocity" : 20.5,
+                    "acceleration" : 400.0,
+                    "maxVelocity" : 80.5,
                     "strafeMultiplier" : 1.0,
                     "backpedalMultiplier" : 0.5,
                     "footstepFirstAudioOffset" : 0.2,
@@ -182,7 +182,7 @@
                 {
                     "type" : "JUMP",
                     "jumpFrames" : 3,
-                    "jumpForce" : 1.3,
+                    "jumpForce" : 80,
                     "animationJump" : {
                         "nameThirdPerson" : "Jump",
                         "nameFirstPerson" : "Jump",
@@ -388,10 +388,10 @@
                 ]
             },
             "collidable" : {
-                "type" : "CAPSULE",
-                "dimension1" : 0.25,
-                "dimension2" : 0.9,
-                "dimension3" : 0.25,
+                "type" : "CYLINDER",
+                "dimension1" : 0.35,
+                "dimension2" : 1.6,
+                "dimension3" : 0.35,
                 "linearFriction": 0.001,
                 "mass": 0.3,
                 "rotX": 0,
@@ -399,7 +399,7 @@
                 "rotZ": 0,
                 "rotW": 1,
                 "offsetX" : 0,
-                "offsetY" : 0.7,
+                "offsetY" : 0.8,
                 "offsetZ" : 0,
                 "angularlyStatic" : true
             },

docs/src/progress/renderertodo.md

@@ -1835,6 +1835,8 @@ Load main level only loads human now
 Human uses capsule collidable
 Physics debug render renders capsules
 Fix virtual scrollable working with certain panels
+Humans use capsule shape now
+Physics numbers reworked
 
 
 

src/main/java/electrosphere/client/ui/components/imgui/CollidableEditBlock.java

@@ -2,6 +2,7 @@ package electrosphere.client.ui.components.imgui;
 
 import org.ode4j.ode.DBody;
 import org.ode4j.ode.DBox;
+import org.ode4j.ode.DCapsule;
 import org.ode4j.ode.DCylinder;
 import org.ode4j.ode.DGeom;
 import org.ode4j.ode.DMass;
@@ -117,6 +118,32 @@ public class CollidableEditBlock {
                     float adjusted = (float)Math.log(mass[0] + 1);
                     massObj.setMass(adjusted);
                 }
+            } else if(geom instanceof DCapsule){
+                DCapsule cylinder = (DCapsule)geom;
+                if(ImGui.sliderFloat3("Offset", offset, MIN_OFFSET, MAX_OFFSET)){
+                    cylinder.setOffsetPosition(offset[0], offset[1], offset[2]);
+                    template.setOffsetX(offset[0]);
+                    template.setOffsetY(offset[1]);
+                    template.setOffsetZ(offset[2]);
+                    geom.enable();
+                }
+                if(ImGui.sliderFloat("Radius",radius,MIN_SCALE,MAX_SCALE)){
+                    cylinder.setParams(radius[0], cylinder.getLength());
+                    template.setDimension1(radius[0]);
+                    template.setDimension3(radius[0]);
+                    geom.enable();
+                }
+                if(ImGui.sliderFloat("Length",length,MIN_SCALE,MAX_SCALE)){
+                    cylinder.setParams(cylinder.getRadius(), length[0]);
+                    template.setDimension2(length[0]);
+                    geom.enable();
+                }
+                if(physicsBody.getMass() instanceof DMass && ImGui.sliderFloat("Mass",mass,MIN_MASS,MAX_MASS)){
+                    DMass massObj = (DMass)physicsBody.getMass();
+                    float adjusted = (float)Math.log(mass[0] + 1);
+                    massObj.setMass(adjusted);
+                    geom.enable();
+                }
             } else {
                 throw new Error("Unsupported geom type! " + geom);
             }

src/main/java/electrosphere/collision/CollisionEngine.java

@@ -52,8 +52,10 @@ import electrosphere.logger.LoggerInterface;
  */
 public class CollisionEngine {
 
-    //gravity constant
-    public static final float GRAVITY_MAGNITUDE = 0.15f;
+    /**
+     * gravity constant
+     */
+    public static final float GRAVITY_MAGNITUDE = 5f;
 
     /**
      * The damping applied to angular velocity
@@ -82,6 +84,11 @@ public class CollisionEngine {
      */
     public static final int COLLIDABLE_COUNT_WARNING_THRESHOLD = 5000;
 
+    /**
+     * Quickstep iteration count
+     */
+    public static final int QUICKSTEP_ITERATION_COUNT = 50;
+
     /**
      * Default distance to interact with collidables at (ie picking where to place things)
      */
@@ -146,6 +153,7 @@ public class CollisionEngine {
     public CollisionEngine(){
         world = OdeHelper.createWorld();
         world.setGravity(0,-GRAVITY_MAGNITUDE,0);
+        world.setQuickStepNumIterations(QUICKSTEP_ITERATION_COUNT);
         space = OdeHelper.createBHVSpace(Collidable.TYPE_STATIC_BIT);
         // world.setContactMaxCorrectingVel(0.1);
         // world.setContactSurfaceLayer(0.001);
@@ -365,6 +373,12 @@ public class CollisionEngine {
                 if(surfaceParams.getBounceVel() != null){
                     contact.surface.bounce_vel = surfaceParams.getBounceVel();
                 }
+                if(surfaceParams.getSoftErp() != null){
+                    contact.surface.soft_erp = surfaceParams.getSoftErp();
+                }
+                if(surfaceParams.getSoftCfm() != null){
+                    contact.surface.soft_cfm = surfaceParams.getSoftCfm();
+                }
             }
             //calculate collisions
             int numc = OdeHelper.collide(o1,o2,MAX_CONTACTS,contacts.getGeomBuffer());

src/main/java/electrosphere/collision/collidable/SurfaceParams.java

@@ -72,6 +72,20 @@ public class SurfaceParams {
      */
     Double bounceVel;
 
+    /**
+     * <p> Error Reduction Parameter </p>
+     * <p> How much of the penetration is corrected per time step </p>
+     * <p> <b> Note that mode must be set with dContactSoftERP. </b> </p>
+     */
+    Double softErp;
+
+    /**
+     * <p> Constraint Force Mixing </p>
+     * <p> How soft or spongy the contact is </p>
+     * <p> <b> Note that mode must be set with dContactSoftCFM. </b> </p>
+     */
+    Double softCfm;
+
     /**
      * Constructor
      */
@@ -83,6 +97,8 @@ public class SurfaceParams {
         rhoN = 10.0;
         bounce = 0.001;
         bounceVel = 100.0;
+        softErp = 0.2;
+        softCfm = 1e-5;
     }
 
     /**
@@ -141,6 +157,22 @@ public class SurfaceParams {
         return bounceVel;
     }
 
+    /**
+     * Gets the error reduction parameter
+     * @return The error reduction parameter
+     */
+    public Double getSoftErp(){
+        return softErp;
+    }
+
+    /**
+     * Gets the constraining force mixing
+     * @return The constraining force mixing
+     */
+    public Double getSoftCfm(){
+        return softCfm;
+    }
+
     /**
      * Sets the rolling friction of the surface params
      * @param friction The rolling friction
@@ -157,4 +189,20 @@ public class SurfaceParams {
         this.mu = linearFriction;
     }
 
+    /**
+     * Sets the error reduction parameter
+     * @param softErp The error reduction parameter
+     */
+    public void setSoftErp(double softErp){
+        this.softErp = softErp;
+    }
+
+    /**
+     * Sets the constraint force mixing
+     * @param softCfm The constraint force mixing
+     */
+    public void setSoftCfm(double softCfm){
+        this.softCfm = softCfm;
+    }
+
 }

src/main/java/electrosphere/engine/time/Timekeeper.java

@@ -37,7 +37,7 @@ public class Timekeeper {
     public static final int SIM_FRAME_HARDCAP = 3;
 
     //step interval time size (for physics)
-    public static final float ENGINE_STEP_SIZE = 0.05f;
+    public static final float ENGINE_STEP_SIZE = 0.01f;