Question

我目前正在研究3D刚体仿真程序。我目前设法让刚体与地板碰撞并使用冲动正确弹跳。然而，我的问题是，一旦它们反弹，它们会不断加速，尽管使用摩擦矢量试图减慢它们。

当你到达地面时，这是代码

Rvector fDirection(m_Bodies[i].Vel.x,0.0,m_Bodies[i].Vel.z);
Rvector relativeVelocities = m_Bodies[i].Vel - floorVelocity;
fDirection.normalize();


Real impulse = -(1+e) * (Rvector::dotProduct(relativeVelocities,floorNormal)) 
/ (1/m_Bodies[i].mass + floorMass);
Rvector friction = fDirection*mu*gravity.length()*m_Bodies[i].mass;

Rvector collision_forces = Rvector(0,1,0)*impulse;
collision_forces += friction ;

m_Bodies[i].Vel += (collision_forces/m_Bodies[i].mass);

由于

编辑：这是集成代码。

void RigidBodySimulation::eulerIntegration(float dTime)
{
    Rvector newVel;
    Rvector newPos;
    Rvector zero(0.0, 0.0, 0.0);
    Real one_over_mass;
    Rvector accel;
    for( unsigned int i = 0 ; i < m_Bodies.size(); i++)
    {   
        one_over_mass = 1/m_Bodies[i].mass;
        newVel = m_Bodies[i].Vel + m_Bodies[i].force*one_over_mass*dTime;
        newPos = m_Bodies[i].Pos + m_Bodies[i].Vel*dTime;
        accel = m_Bodies[i].force / m_Bodies[i].mass;
        m_Bodies[i].acceleration = accel;
        m_Bodies[i].newPos = newPos;  
        m_Bodies[i].Vel = newVel;
        m_Bodies[i].Pos = newPos;
    }
}

Answer 1

摩擦是倒退，不是吗？

 Rvector fDirection(m_Bodies[i].Vel.x,0.0,m_Bodies[i].Vel.z);

这是速度的方向。然后将它乘以一些常数，然后将其加到速度（连同脉冲）

collision_forces += friction ;
 m_Bodies[i].Vel += (collision_forces/m_Bodies[i].mass);

这样可以提高地板的速度。

还有其他一些奇怪的事情：
你的冲动词有：(1/m_Bodies[i].mass + floorMass)这是质量加1 /质量。不应该是(1/(m_Bodies[i].mass + floorMass))

然后在积分器中，您可以计算力的加速度，但是从不对它进行积分，您也可以直接对力进行加速。那么acceleration成员是什么？

刚体仿真摩擦力

1 个答案: