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ODE: add absolute speed clamp cvar as an alternative to the movelimit check

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Marco Cawthorne 2024-12-02 02:34:41 -08:00
parent 4f1553d97d
commit a6fca4638f
1 changed files with 39 additions and 10 deletions
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49
engine/common/com_phys_ode.c
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@ -1219,6 +1219,7 @@ static cvar_t *physics_ode_autodisable_time;
static cvar_t *physics_ode_autodisable_threshold_linear;
static cvar_t *physics_ode_autodisable_threshold_angular;
static cvar_t *physics_ode_autodisable_threshold_samples;
static cvar_t *physics_ode_maxspeed;
struct odectx_s
{
@ -1297,6 +1298,7 @@ static qboolean World_ODE_Init(void)
physics_ode_iterationsperframe = cvarfuncs->GetNVFDG("physics_ode_iterationsperframe", "4", 0, "divisor for time step, runs multiple physics steps per frame", "ODE Physics Library");
physics_ode_movelimit = cvarfuncs->GetNVFDG("physics_ode_movelimit", "0.5", 0, "clamp velocity if a single move would exceed this percentage of object thickness, to prevent flying through walls","ODE Physics Library");
physics_ode_spinlimit = cvarfuncs->GetNVFDG("physics_ode_spinlimit", "10000",0, "reset spin velocity if it gets too large", "ODE Physics Library");
physics_ode_maxspeed = cvarfuncs->GetNVFDG("physics_ode_maxspeed", "0", 0, "clamp absolute velocity","ODE Physics Library");
physics_ode_autodisable = cvarfuncs->GetNVFDG("physics_ode_autodisable", "1", 0, "automatic disabling of objects which dont move for long period of time, makes object stacking a lot faster", "ODE Physics Library");
physics_ode_autodisable_steps = cvarfuncs->GetNVFDG("physics_ode_autodisable_steps", "10", 0, "how many steps object should be dormant to be autodisabled", "ODE Physics Library");
physics_ode_autodisable_time = cvarfuncs->GetNVFDG("physics_ode_autodisable_time", "0", 0, "how many seconds object should be dormant to be autodisabled", "ODE Physics Library");
@ -2501,17 +2503,44 @@ static void World_ODE_Frame_BodyFromEntity(world_t *world, wedict_t *ed)
// limit movement speed to prevent missed collisions at high speed
const dReal *ovelocity = dBodyGetLinearVel(body);
const dReal *ospinvelocity = dBodyGetAngularVel(body);
movelimit = ctx->movelimit * ctx->movelimit;
test = DotProduct(ovelocity,ovelocity);
if (test > movelimit*movelimit)
// simpler clamp as a last resort
if (physics_ode_maxspeed->value > 0)
{
// scale down linear velocity to the movelimit
// scale down angular velocity the same amount for consistency
f = movelimit / sqrt(test);
VectorScale(ovelocity, f, velocity);
VectorScale(ospinvelocity, f, spinvelocity);
dBodySetLinearVel(body, velocity[0], velocity[1], velocity[2]);
dBodySetAngularVel(body, spinvelocity[0], spinvelocity[1], spinvelocity[2]);
float highestAxis = physics_ode_maxspeed->value;
float scaleDiff = 1.0;
for (int i = 0; i < 3; i++)
{
if (velocity[i] > highestAxis)
highestAxis = velocity[i];
if (velocity[i] < -highestAxis)
highestAxis = -velocity[i];
}
scaleDiff = (physics_ode_maxspeed->value / highestAxis);
// if we should scale it down...
if (scaleDiff < 1.0f) {
VectorScale(ovelocity, scaleDiff, velocity);
dBodySetLinearVel(body, velocity[0], velocity[1], velocity[2]);
}
} else {
// this is probably more expensive
movelimit = ctx->movelimit * ctx->movelimit;
test = DotProduct(ovelocity,ovelocity);
if (test > movelimit*movelimit)
{
// scale down linear velocity to the movelimit
// scale down angular velocity the same amount for consistency
f = movelimit / sqrt(test);
VectorScale(ovelocity, f, velocity);
VectorScale(ospinvelocity, f, spinvelocity);
dBodySetLinearVel(body, velocity[0], velocity[1], velocity[2]);
dBodySetAngularVel(body, spinvelocity[0], spinvelocity[1], spinvelocity[2]);
}
}
// make sure the angular velocity is not exploding