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physics tweaks #1826

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e7262e9
physics tweaks
Azaezel Oct 17, 2026
29b5d4b
typofix
Azaezel Oct 19, 2026
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11 changes: 11 additions & 0 deletions Engine/source/T3D/rigid.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -112,6 +112,17 @@ void Rigid::integrate(F32 delta)

}

void Rigid::preIntegrateForces(F32 delta)
{
// Update momentum and velocity, but don't integrate forward in time (don't move the object).
// This makes sure the current tick's changes in velocity, for example from gravity, are visible to the collision solver for this tick
angMomentum = angMomentum + torque * delta;
linMomentum = linMomentum + force * delta;
updateVelocity();
// This should only be called when paired with a follow-up call to integrate with the same delta,
// generally after collision and clearing the forces again
}

void Rigid::updateVelocity()
{
linVelocity.x = linMomentum.x * oneOverMass;
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1 change: 1 addition & 0 deletions Engine/source/T3D/rigid.h
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Expand Up @@ -77,6 +77,7 @@ class Rigid
//
Rigid();
void clearForces();
void preIntegrateForces(F32 delta);
void integrate(F32 delta);

void updateInertialTensor();
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29 changes: 14 additions & 15 deletions Engine/source/T3D/rigidShape.cpp
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Expand Up @@ -245,7 +245,7 @@ RigidShapeData::RigidShapeData()

minDrag = 0;
maxDrag = 0;
integration = 1;
integration = 4;
collisionTol = 0.1f;
contactTol = 0.1f;
massCenter.set(0,0,0);
Expand Down Expand Up @@ -874,7 +874,7 @@ void RigidShape::processTick(const Move* move)
mDelta.rot[0] = mRigid.angPosition;

// Update the physics based on the integration rate
S32 count = mDataBlock->integration;
S32 count = mDataBlock->integration + (S32)(getVelocity().lenSquared()/TickMs);
--mWorkingQueryBoxCountDown;

if (!mDisableMove)
Expand Down Expand Up @@ -1156,6 +1156,9 @@ void RigidShape::updatePos(F32 dt)
bool collided = false;
if (!mRigid.atRest && !mDisableMove)
{
mRigid.preIntegrateForces(dt);
mRigid.clearForces();

collided = updateCollision(dt);

// Now that all the forces have been processed, lets
Expand Down Expand Up @@ -1627,12 +1630,10 @@ U32 RigidShape::packUpdate(NetConnection *con, U32 mask, BitStream *stream)
stream->writeFlag(mask & ForceMoveMask);

stream->writeCompressedPoint(mRigid.linPosition);
if (!stream->writeFlag(mRigid.atRest))
{
mathWrite(*stream, mRigid.angPosition);
mathWrite(*stream, mRigid.linMomentum);
mathWrite(*stream, mRigid.angMomentum);
}
stream->writeFlag(mRigid.atRest);
mathWrite(*stream, mRigid.angPosition);
mathWrite(*stream, mRigid.linMomentum);
mathWrite(*stream, mRigid.angMomentum);
}

if(stream->writeFlag(mask & FreezeMask))
Expand Down Expand Up @@ -1667,13 +1668,11 @@ void RigidShape::unpackUpdate(NetConnection *con, BitStream *stream)
{
mRigid.setAtRest();
}
else
{
mathRead(*stream, &mRigid.angPosition);
mathRead(*stream, &mRigid.linMomentum);
mathRead(*stream, &mRigid.angMomentum);
mRigid.updateVelocity();
}

mathRead(*stream, &mRigid.angPosition);
mathRead(*stream, &mRigid.linMomentum);
mathRead(*stream, &mRigid.angMomentum);
mRigid.updateVelocity();

if (!forceUpdate && isProperlyAdded())
{
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5 changes: 4 additions & 1 deletion Engine/source/T3D/vehicles/vehicle.cpp
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Expand Up @@ -557,7 +557,7 @@ void Vehicle::processTick(const Move* move)
mDelta.rot[0] = mRigid.angPosition;

// Update the physics based on the integration rate
S32 count = mDataBlock->integration;
S32 count = mDataBlock->integration + (S32)(getVelocity().lenSquared() / TickMs);
--mWorkingQueryBoxCountDown;

if (!mDisableMove)
Expand Down Expand Up @@ -816,6 +816,9 @@ void Vehicle::updatePos(F32 dt)
bool collided = false;
if (!mRigid.atRest && !mDisableMove)
{
mRigid.preIntegrateForces(dt);
mRigid.clearForces();

collided = updateCollision(dt);

// Now that all the forces have been processed, lets
Expand Down
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