RigidBody.h:

* Splitting criticall speed into two optional component for greater control and less weird cross-coupled behaviour as it was before.

Dynamics/DynamicsSystem.h

@@ -25,15 +25,16 @@ namespace dynamics
       std::optional<Vec2> pos = std::nullopt, const Vec2& vel = {}, const Vec2& force = {},
       float ang_vel = 0.f, float torque = 0.f,
       float e = 0.8f, float dyn_friction = 0.f,
-      std::optional<float> crit_speed = std::nullopt,
+      std::optional<float> crit_speed_r = std::nullopt,
+      std::optional<float> crit_speed_c = std::nullopt,
       const std::vector<int>& inertia_mats = { 1 },
       const std::vector<int>& coll_mats = { 1 })
     {
       auto& rb = m_rigid_bodies.emplace_back(std::make_unique<RigidBody>(sprite, rb_mass,
         pos, vel, force,
         ang_vel, torque,
         e, dyn_friction,
-        crit_speed,
+        crit_speed_r, crit_speed_c,
         inertia_mats, coll_mats));
       return rb.get();
     }
@@ -48,7 +49,8 @@ namespace dynamics
       std::function<float(int)> torque = [](int){ return 0.f; },
       std::function<float(int)> e = [](int){ return 0.8f; },
       std::function<float(int)> dyn_friction = [](int) { return 0.f; },
-      std::function<std::optional<float>(int)> crit_speed = [](int){ return std::nullopt; },
+      std::function<std::optional<float>(int)> crit_speed_r = [](int){ return std::nullopt; },
+      std::function<std::optional<float>(int)> crit_speed_c = [](int){ return std::nullopt; },
       std::function<std::vector<int>(int)> inertia_mats = [](int){ return std::vector { 1 }; },
       std::function<std::vector<int>(int)> coll_mats = [](int){ return std::vector { 1 }; })
     {
@@ -59,7 +61,7 @@ namespace dynamics
           pos(s_idx), vel(s_idx), force(s_idx),
           ang_vel(s_idx), torque(s_idx),
           e(s_idx), dyn_friction(s_idx),
-          crit_speed(s_idx),
+          crit_speed_r(s_idx), crit_speed_c(s_idx),
           inertia_mats(s_idx), coll_mats(s_idx));
       }
       return rigid_body_arr;

Dynamics/RigidBody.h

@@ -42,7 +42,8 @@ namespace dynamics
 
     float coeff_of_restitution = 0.8f;
     float dynamic_friction = 0.f;
-    std::optional<float> crit_speed_sq = std::nullopt;
+    std::optional<float> critical_speed_r = std::nullopt;
+    std::optional<float> critical_speed_c = std::nullopt;
 
     AABB<int> curr_sprite_aabb;
     AABB<float> curr_aabb;
@@ -148,7 +149,8 @@ namespace dynamics
       std::optional<Vec2> pos = std::nullopt, const Vec2& vel = {}, const Vec2& force = {},
       float ang_vel = 0.f, float torque = 0.f,
       float e = 0.8f, float dyn_friction = 0.f,
-      std::optional<float> crit_speed = std::nullopt,
+      std::optional<float> crit_speed_r = std::nullopt,
+      std::optional<float> crit_speed_c = std::nullopt,
       const std::vector<int>& inertia_mats = { 1 },
       const std::vector<int>& coll_mats = { 1 })
       : sprite(s)
@@ -160,7 +162,8 @@ namespace dynamics
       , curr_torque(torque)
       , coeff_of_restitution(e)
       , dynamic_friction(math::clamp<float>(dyn_friction, 0.f, 1.f))
-      , crit_speed_sq(crit_speed.has_value() ? std::optional<float>(math::sq(crit_speed.value())) : std::nullopt)
+      , critical_speed_r(crit_speed_r)
+      , critical_speed_c(crit_speed_c)
       , inertia_materials(inertia_mats)
       , collision_materials(coll_mats)
     {
@@ -186,9 +189,10 @@ namespace dynamics
         {
           curr_acc = curr_force * inv_mass;
           curr_vel += curr_acc * dt;
-          auto curr_speed_sq = math::length_squared(curr_vel);
-          if (crit_speed_sq.has_value() && curr_speed_sq > crit_speed_sq.value())
-            curr_vel = math::normalize(curr_vel) * std::sqrt(crit_speed_sq.value());
+          if (critical_speed_r.has_value() && std::abs(curr_vel.r) > std::abs(critical_speed_r.value()))
+            curr_vel.r = math::sgn(curr_vel.r)*std::abs(critical_speed_r.value());
+          if (critical_speed_c.has_value() && std::abs(curr_vel.c) > std::abs(critical_speed_c.value()))
+            curr_vel.c = math::sgn(curr_vel.c)*std::abs(critical_speed_c.value());
           curr_cm += curr_vel * dt;
           curr_centroid += curr_vel * dt;
           curr_ang_acc = curr_torque * inv_Iz;