From 667425a4172869b273df37be0ceadaae656511d7 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Gr=C3=A9goire=20Payen=20de=20La=20Garanderie?=
<gregoire.payendelagaranderie@telecom-bretagne.eu>
Date: Sun, 16 Jan 2011 13:46:34 +0100
Subject: [PATCH] =?UTF-8?q?Ajout=20des=20frottements=20solides=20sur=20le?=
=?UTF-8?q?=20robot=20et=20les=20=C3=A9lements.?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit
---
src/simul/element.cpp | 31 ++++++++++++++++++++++++++++++-
src/simul/robot.cpp | 7 ++++---
src/simul/table.cpp | 2 +-
3 files changed, 35 insertions(+), 5 deletions(-)
diff --git a/src/simul/element.cpp b/src/simul/element.cpp
index 61c441bc..bc693b2b 100644
--- a/src/simul/element.cpp
+++ b/src/simul/element.cpp
@@ -18,7 +18,7 @@ Element::Element(b2World & world, Position p, Type t)
b2FixtureDef fixtureDef;
fixtureDef.shape = &circle;
fixtureDef.density = 1.0f;
- fixtureDef.friction = 0; //0.3f;
+ fixtureDef.friction = 0.4f;
body->CreateFixture(&fixtureDef);
}
@@ -26,4 +26,33 @@ void Element::updatePos()
{
p.x = 100.*body->GetPosition().x;
p.y = 100.*body->GetPosition().y;
+
+ float friction = 0.5;
+ b2Vec2 velocity = body->GetLinearVelocity();
+ float32 speed = velocity.Length();
+
+ if(speed > FLT_EPSILON)
+ {
+ float32 newSpeed = speed - friction;
+ if(newSpeed < 0)
+ newSpeed = 0;
+ velocity *= newSpeed/speed;
+ body->SetLinearVelocity(velocity);
+ }
+
+ float angularFriction = 0.1;
+ float angular = body->GetAngularVelocity();
+ if(angular > 0)
+ {
+ angular -= angularFriction;
+ if(angular < 0)
+ angular = 0;
+ }
+ else
+ {
+ angular += angularFriction;
+ if(angular > 0)
+ angular = 0;
+ }
+ body->SetAngularVelocity(angular);
}
diff --git a/src/simul/robot.cpp b/src/simul/robot.cpp
index 562e518d..51382abb 100644
--- a/src/simul/robot.cpp
+++ b/src/simul/robot.cpp
@@ -72,7 +72,7 @@ Robot::Robot(b2World & world) : olds(10000)
b2FixtureDef fixtureDef;
fixtureDef.shape = &box;
fixtureDef.density = 10.0f;
- fixtureDef.friction = 0.f;
+ fixtureDef.friction = 1.0f;
body->CreateFixture(&fixtureDef);
}
@@ -87,11 +87,12 @@ void Robot::updateForces(int dt)
float32 rdt = 1000./(float)dt;
- b2Vec2 bimpulse = 0.01*rdt*b2Vec2(impulse.x.getValueInMillimeters(),impulse.y.getValueInMillimeters());
+ b2Vec2 bvelocity = 0.01*rdt*b2Vec2(impulse.x.getValueInMillimeters(),impulse.y.getValueInMillimeters());
float bangular = deriv.angle.getValueInRadian()*rdt;
//body->ApplyForce(10*body->GetMass()*(bimpulse - body->GetLinearVelocity()), body->GetWorldCenter());
//body->ApplyTorque((bangular - body->GetAngularVelocity())*body->GetInertia());
- body->SetLinearVelocity(bimpulse);
+
+ body->SetLinearVelocity(bvelocity);
body->SetAngularVelocity(bangular);
}
diff --git a/src/simul/table.cpp b/src/simul/table.cpp
index d570d655..09d293ab 100644
--- a/src/simul/table.cpp
+++ b/src/simul/table.cpp
@@ -26,7 +26,7 @@ Table::Table(QWidget* parent) : QWidget(parent), world(b2Vec2(0.f,0.f), false)
b2PolygonShape box;
b2FixtureDef fixtureDef;
fixtureDef.shape = &box;
- fixtureDef.friction = 0;
+ fixtureDef.friction = 0.5;
fixtureDef.density = 0;
box.SetAsBox(30,1, b2Vec2(0,-1),0);
--
GitLab