RigidBody.h:

* Added support for critical velocity (default off / nullopt).
razterizer · Nov 13, 2024 · 2a96972 · 2a96972
1 parent f971dab
commit 2a96972
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diff --git a/Dynamics/DynamicsSystem.h b/Dynamics/DynamicsSystem.h
@@ -25,13 +25,15 @@ 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,
       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,
         inertia_mats, coll_mats));
       return rb.get();
     }
@@ -46,6 +48,7 @@ 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::vector<int>(int)>&& inertia_mats = [](int){ return std::vector { 1 }; },
       std::function<std::vector<int>(int)>&& coll_mats = [](int){ return std::vector { 1 }; })
     {
@@ -56,6 +59,7 @@ 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),
           inertia_mats(s_idx), coll_mats(s_idx));
       }
       return rigid_body_arr;

diff --git a/Dynamics/RigidBody.h b/Dynamics/RigidBody.h
@@ -42,6 +42,7 @@ namespace dynamics
 
     float coeff_of_restitution = 0.8f;
     float dynamic_friction = 0.f;
+    std::optional<float> crit_speed_sq = std::nullopt;
 
     AABB<int> curr_sprite_aabb;
     AABB<float> curr_aabb;
@@ -147,6 +148,7 @@ 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,
       const std::vector<int>& inertia_mats = { 1 },
       const std::vector<int>& coll_mats = { 1 })
       : sprite(s)
@@ -158,6 +160,7 @@ 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)
       , inertia_materials(inertia_mats)
       , collision_materials(coll_mats)
     {
@@ -183,6 +186,9 @@ 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());
           curr_cm += curr_vel * dt;
           curr_centroid += curr_vel * dt;
           curr_ang_acc = curr_torque * inv_Iz;