Physics: less default bounciness, body autodisabling enabled by default

borodust · Feb 8, 2017 · 8c110d8 · 8c110d8
1 parent 2ab72e8
commit 8c110d8
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Showing 3 changed files with 10 additions and 4 deletions.
diff --git a/graphics/shaders/lighting.glsl b/graphics/shaders/lighting.glsl
@@ -4,5 +4,5 @@
 
 vec4 computeLight(vec4 base, vec3 normal, DirectionalLight lightSource) {
   float f = max(-dot(lightSource.direction, normal), 0);
-  return lightSource.ambient * base + lightSource.diffuse * f;
+  return (lightSource.ambient + lightSource.diffuse * f) * base;
 }
diff --git a/physics/contacts.lisp b/physics/contacts.lisp
@@ -27,6 +27,6 @@
 (defun fill-contact (contact info)
   (setf (%ode:contact.surface.mode contact) (mask 'contact-flags :approx0 :bounce)
         (%ode:contact.surface.mu contact) +infinity+
-        (%ode:contact.surface.bounce contact) (ode-real 1.0))
+        (%ode:contact.surface.bounce contact) (ode-real 0.1))
   (fill-contact-geom (%ode:contact.geom contact) info)
   contact)
diff --git a/physics/universe.lisp b/physics/universe.lisp
@@ -2,6 +2,10 @@
 
 
 (defvar *contact-points-per-collision* 4)
+(defvar *world-quick-step-iterations* 20)
+(defvar *auto-disable-bodies-p* t)
+(defvar *error-reduction-parameter* 0.5) ;; 0.1 ~ 0.8 recommended
+(defvar *constant-force-mixing* 0.0001) ;; 10e-9 ~ 1.0 recommended
 
 
 (defclass universe ()
@@ -18,8 +22,10 @@
 
 (defmethod initialize-instance :after ((this universe) &key)
   (with-slots (world) this
-    (%ode:world-set-erp world (ode-real 0.8))
-    (%ode:world-set-cfm world (ode-real 0.01))))
+    (%ode:world-set-quick-step-num-iterations world *world-quick-step-iterations*)
+    (%ode:world-set-auto-disable-flag world (if *auto-disable-bodies-p* 1 0))
+    (%ode:world-set-erp world (ode-real *error-reduction-parameter*))
+    (%ode:world-set-cfm world (ode-real *constant-force-mixing*))))
 
 
 (defun make-universe ()