[#17] : Increased physics iteration limit

ange-yaghi · Jul 12, 2020 · cdfa374 · cdfa374
1 parent 6e4c0bd
commit cdfa374
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Showing 3 changed files with 5 additions and 5 deletions.
diff --git a/physics/include/rigid_body_system.h b/physics/include/rigid_body_system.h
@@ -17,7 +17,7 @@ namespace dphysics {
     class DeltaEngine;
     class RigidBodySystem : public ysObject {
     public:
-        static const int ResolutionIterationLimit = 128;
+        static const int ResolutionIterationLimit = 1024;
         static float ResolutionPenetrationEpsilon;
 
         struct CollisionGenerationCallData {

diff --git a/physics/src/collision_detector.cpp b/physics/src/collision_detector.cpp
@@ -102,7 +102,7 @@ int dphysics::CollisionDetector::BoxBoxCollision(
 }
 
 int dphysics::CollisionDetector::CircleBoxCollision(Collision *collisions, RigidBody *body1, RigidBody *body2, CirclePrimitive *circle, BoxPrimitive *box) {
-    constexpr float epsilon = 1E-5f;
+    constexpr float Epsilon = 1E-5f;
 
     ysVector relativePosition = ysMath::Sub(circle->Position, box->Position);
     relativePosition = ysMath::QuatTransformInverse(box->Orientation, relativePosition);
@@ -119,10 +119,10 @@ int dphysics::CollisionDetector::CircleBoxCollision(Collision *collisions, Rigid
     if (d2 > circle->Radius * circle->Radius) return 0;
 
     ysVector normal;
-    if (d0 <= epsilon) {
+    if (d0 <= Epsilon) {
         normal = ysMath::Mul(ysMath::Constants::XAxis, ysMath::LoadScalar(0.001f));
     }
-    else if (d2 <= epsilon) {
+    else if (d2 <= Epsilon) {
         normal = ysMath::Mask(ysMath::Sub(circle->Position, box->Position), ysMath::Constants::MaskOffW);
         normal = ysMath::Mask(normal, ysMath::Constants::MaskOffZ);
     }

diff --git a/physics/src/rigid_body_system.cpp b/physics/src/rigid_body_system.cpp
@@ -520,7 +520,7 @@ void dphysics::RigidBodySystem::AdjustVelocities(float timestep) {
     ysVector cp;
 
     // iteratively handle impacts in order of severity.
-    for (int velocityIterationsUsed = 0; velocityIterationsUsed < 100; ++velocityIterationsUsed) {
+    for (int velocityIterationsUsed = 0; velocityIterationsUsed < ResolutionIterationLimit; ++velocityIterationsUsed) {
         // Find contact with maximum magnitude of probable velocity change.
         float max = 1E-4;
         unsigned index = numContacts;