removed old damping

2 years ago · dbb0a2b687
parent 3be7bfafb2
commit dbb0a2b687
5 changed files with 11 additions and 11 deletions
--- a/Content/BP_Gamemode.uasset
+++ b/Content/BP_Gamemode.uasset
--- a/Content/Blueprints/BP_Puma.uasset
+++ b/Content/Blueprints/BP_Puma.uasset
--- a/Content/Blueprints/BP_Robot.uasset
+++ b/Content/Blueprints/BP_Robot.uasset
--- a/Content/Levels/Main.umap
+++ b/Content/Levels/Main.umap
--- a/Source/PBDRobotics/Joint.cpp
+++ b/Source/PBDRobotics/Joint.cpp
@ -27,8 +27,6 @@ Vector3d UJoint::GetSecondWorldAxis() const{
 	return SecondLink->Orientation * SecondRotateAxis;
 }

-
-
 void UJoint::SolvePosition(const double H) const{
 	ULink* L1 = FirstLink;
 	ULink* L2 = SecondLink;
@ -109,7 +107,16 @@ void UJoint::SolvePosition(const double H) const{
 void UJoint::SolveVelocity(const double H) const{
 	ULink* L1 = FirstLink;
 	ULink* L2 = SecondLink;
-	
+
+	constexpr double A = 7; // Damping strength
+	const double Damp = 1 - (A * H < 0.5 ? A * H : 0.5);
+
+	L1->Velocity *= Damp;
+	L2->Velocity *= Damp;
+	L1->AngularVelocity *= Damp;
+	L2->AngularVelocity *= Damp;
+
+	/*
 	// Positional Damping
 	{
 		const Vector3d V1 = L1->Velocity;
@ -136,14 +143,6 @@ void UJoint::SolveVelocity(const double H) const{
 		
 		//L1->AngularVelocity += I1.inverse() * R1.cross(P);
 		//L2->AngularVelocity -= I2.inverse() * R2.cross(P);
-
-		constexpr double A = 7;
-		const double Damp = 1 - A * H;
-
-		L1->Velocity *= Damp;
-		L2->Velocity *= Damp;
-		L1->AngularVelocity *= Damp;
-		L2->AngularVelocity *= Damp;
 	}
 	
 	// Rotational Damping
@ -153,6 +152,7 @@ void UJoint::SolveVelocity(const double H) const{

 		
 	}
+	*/
 }

 UJoint::UJoint()