sim: improve handling by raising angular friction

Ryp · Mar 26, 2024 · a5c6b2b · a5c6b2b
1 parent 377c5b0
commit a5c6b2b
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Showing 4 changed files with 11 additions and 18 deletions.
diff --git a/src/GameLoop.cpp b/src/GameLoop.cpp
@@ -234,11 +234,9 @@ namespace
         ImGui::SliderInt("max_simulation_substep_count", &sim.vars.max_simulation_substep_count, 1, 10);
         ImGui::SliderFloat("gravity_force_intensity", &sim.vars.gravity_force_intensity, 0.f, 100.f, "%.3f",
                            ImGuiSliderFlags_Logarithmic);
-        ImGui::SliderFloat("linear_friction", &sim.vars.linear_friction, 0.f, 100.f, "%.3f",
+        ImGui::SliderFloat("linear_friction", &sim.vars.linear_friction, 0.04f, 1.f, "%.3f",
                            ImGuiSliderFlags_Logarithmic);
-        ImGui::SliderFloat("quadratic_friction", &sim.vars.quadratic_friction, 0.f, 10.f, "%.3f",
-                           ImGuiSliderFlags_Logarithmic);
-        ImGui::SliderFloat("angular_friction", &sim.vars.angular_friction, 0.f, 100.f, "%.3f",
+        ImGui::SliderFloat("angular_friction", &sim.vars.angular_friction, 0.04f, 1.f, "%.3f",
                            ImGuiSliderFlags_Logarithmic);
         ImGui::Checkbox("enable_suspension_forces", &sim.vars.enable_suspension_forces);
         ImGui::SliderFloat("max_suspension_force", &sim.vars.max_suspension_force, 0.f, 100000.f, "%.3f",
@@ -256,6 +254,7 @@ namespace
         ImGui::SliderFloat("suspension ratio 2", &sim.raycast_suspensions[2].length_ratio_last, 0.0f, 1.f, "%.3f");
         ImGui::SliderFloat("suspension ratio 3", &sim.raycast_suspensions[3].length_ratio_last, 0.0f, 1.f, "%.3f");
         ImGui::EndDisabled();
+        ImGui::SliderFloat("steer_force", &sim.vars.steer_force, 0.01f, 100.f, "%.3f", ImGuiSliderFlags_Logarithmic);
         ImGui::SliderFloat("default_ship_stats.thrust", &sim.vars.default_ship_stats.thrust, 0.f, 1000.f);
         ImGui::SliderFloat("default_ship_stats.braking", &sim.vars.default_ship_stats.braking, 0.f, 100.f);
         ImGui::SliderFloat("default_ship_stats.handling", &sim.vars.default_ship_stats.handling, 0.1f, 10.f);

diff --git a/src/neptune/sim/PhysicsSim.cpp b/src/neptune/sim/PhysicsSim.cpp
@@ -38,16 +38,16 @@ PhysicsSim create_sim()
     sim.vars.simulation_substep_duration = 1.f / 60.f;
     sim.vars.max_simulation_substep_count = 3;
     sim.vars.gravity_force_intensity = 9.8331f;
-    sim.vars.linear_friction = 4.0f;
-    sim.vars.quadratic_friction = 0.01f;
-    sim.vars.angular_friction = 0.03f;
+    sim.vars.linear_friction = 0.4f;
+    sim.vars.angular_friction = 0.999f;
     sim.vars.enable_suspension_forces = true;
     sim.vars.max_suspension_force = 6000.f;
     sim.vars.default_spring_stiffness = 30.f;
     sim.vars.default_damper_friction_compression = 2.82f;
     sim.vars.default_damper_friction_extension = 0.22f;
     sim.vars.enable_debug_geometry = false;
-    sim.vars.default_ship_stats.thrust = 100.f;
+    sim.vars.steer_force = 2.f;
+    sim.vars.default_ship_stats.thrust = 20.f;
     sim.vars.default_ship_stats.braking = 10.f;
     sim.vars.default_ship_stats.handling = 0.4f;
 

diff --git a/src/neptune/sim/PhysicsSim.h b/src/neptune/sim/PhysicsSim.h
@@ -97,14 +97,14 @@ struct PhysicsSim
         int       max_simulation_substep_count;
         float     gravity_force_intensity;
         float     linear_friction;
-        float     quadratic_friction;
         float     angular_friction;
         bool      enable_suspension_forces;
         float     max_suspension_force;
         float     default_spring_stiffness;
         float     default_damper_friction_compression;
         float     default_damper_friction_extension;
         bool      enable_debug_geometry;
+        float     steer_force;
         ShipStats default_ship_stats;
     } vars;
 

diff --git a/src/neptune/sim/PhysicsSimUpdate.cpp b/src/neptune/sim/PhysicsSimUpdate.cpp
@@ -134,7 +134,7 @@ namespace
         const glm::fvec3 player_forward_ws = player_transform * glm::vec4(forward(), 0.f);
         const glm::fvec3 player_up_ws = player_transform * glm::vec4(up(), 0.f);
         const glm::fvec3 player_linear_speed = toGlm(player_rigid_body->getLinearVelocity());
-        const glm::fvec3 player_angular_speed = toGlm(player_rigid_body->getAngularVelocity());
+        // const glm::fvec3 player_angular_speed = toGlm(player_rigid_body->getAngularVelocity());
 
         glm::fvec3 force_ws = {};
 
@@ -148,15 +148,10 @@ namespace
         force_ws += -glm::proj(player_linear_speed, player_forward_ws) * frame_data.input.brake
                     * sim.vars.default_ship_stats.braking;
 
-        // Friction force (FIXME might be better applied by bullet directly)
-        force_ws += -player_linear_speed * sim.vars.linear_friction;
-        force_ws += -player_linear_speed * glm::length(player_linear_speed) * sim.vars.quadratic_friction;
-
         glm::fvec3 torque_ws = {};
 
         // Turning torque
-        torque_ws += player_up_ws * -frame_data.input.steer;
-        // torque_ws += glm::eulerAngles(glm::angleAxis(frame_data.input.steer, player_up_ws));
+        torque_ws += player_up_ws * -frame_data.input.steer * sim.vars.steer_force;
 
         // Torque to orient the ship upright
         if (false) // FIXME
@@ -172,8 +167,7 @@ namespace
             torque_ws += torque;
         }
 
-        // Friction torque (FIXME might be better applied by bullet directly)
-        torque_ws += -player_angular_speed * sim.vars.angular_friction;
+        player_rigid_body->setDamping(sim.vars.linear_friction, sim.vars.angular_friction);
 
         player_rigid_body->applyTorque(toBt(torque_ws));
         player_rigid_body->applyCentralForce(toBt(force_ws));