Merge pull request #8 from erayzesen/v1.0.1

V1.0.1

QuarkPhysics/qbody.cpp

@@ -50,12 +50,24 @@ QBody::~QBody()
 	_meshes.clear();
 }
 
+float QBody::GetVelocityLimit() {
+	return velocityLimit;
+}
 
+bool QBody::GetIntegratedVelocitiesEnabled() {
+	return enableIntegratedVelocities;
+}
 
+QBody *QBody::SetVelocityLimit(float value)
+{
+	velocityLimit=value;
+    return this;
+}
 
-QVector QBody::ComputeFriction(QBody *bodyA, QBody *bodyB, QVector &normal,float penetration, QVector &relativeVelocity){
+QVector QBody::ComputeFriction(QBody *bodyA, QBody *bodyB, QVector &normal, float penetration, QVector &relativeVelocity)
+{
 
-	QVector tangent=relativeVelocity-(relativeVelocity.Dot(normal)*normal );
+    QVector tangent=relativeVelocity-(relativeVelocity.Dot(normal)*normal );
 
 	tangent=tangent.Normalized();
 
@@ -108,8 +120,12 @@ bool QBody::CanCollide(QBody *bodyA, QBody *bodyB,bool checkBodiesAreEnabled)
 
 //GENERAL METHODS
 
+QBody *QBody::SetIntegratedVelocitiesEnabled(bool value) {
+	enableIntegratedVelocities=value;
+	return this;
+}
 
-QBody * QBody::AddMesh(QMesh *mesh){
+QBody *QBody::AddMesh(QMesh *mesh) {
 	_meshes.push_back(mesh);
 	mesh->ownerBody=this;
 	UpdateMeshTransforms();

QuarkPhysics/qbody.h

@@ -96,6 +96,8 @@ class QBody{
 	float bodySpecificTimeScale=1.0f;
 	BodyTypes bodyType=BodyTypes::RIGID;
 	bool enabled=true;
+	float velocityLimit=0.0f;
+	bool enableIntegratedVelocities=true;
 
 	//Material Properties;
 
@@ -122,7 +124,10 @@ class QBody{
 
 	void UpdateAABB();
 	void UpdateMeshTransforms();
+	/** Updates properties of the soft body and applies needed physical dynamics. */
 	virtual void Update(){};
+	/** Called after all bodies have completed their Update step to perform post-update operations. */
+	virtual void PostUpdate(){};
 	virtual bool CanGiveCollisionResponseTo(QBody *otherBody);
 
 	public:
@@ -341,6 +346,15 @@ class QBody{
 		bool GetEnabled(){
 			return enabled;
 		}
+		/**
+		 * Returns the velocity limit of the physics body.  If set to 0, no velocity limit is applied. The default value is 0.
+		 */
+		float GetVelocityLimit();
+
+		/**
+		 * Returns whether the application of gravity and various velocity integrators necessary for the body's movement in the physics world is enabled. It is set to true by default. Typically, it is disabled for specific body objects that require manual control.
+		 */
+		bool GetIntegratedVelocitiesEnabled();
 
 
 
@@ -355,6 +369,7 @@ class QBody{
 			if (withPreviousPosition) {
 				prevPosition=position;
 			}
+			WakeUp();
 
 			UpdateMeshTransforms();
 			UpdateAABB();
@@ -363,10 +378,11 @@ class QBody{
 
 		/** Adds a vector value the position of the body. 
 		 * @param value A vector value to add. 
+		 * @param withPreviousPosition Determines whether apply the position to the previous position of the body.In this simulation, since velocities are implicit, if the previous position are the same as the newly set position, the positional velocity of the body will also be zeroed.Therefore, if you want to zero out the positional velocity when setting the new position, use this option.
 		 * @return A pointer to the body itself.
 		 */
-		QBody *AddPosition(QVector value){
-			return SetPosition(GetPosition()+value);
+		QBody *AddPosition(QVector value, bool withPreviousPosition=true){
+			return SetPosition(GetPosition()+value,withPreviousPosition);
 		}
 		/** Sets the previous position of the body. 
 		 * @param value A position value to set. 
@@ -392,6 +408,7 @@ class QBody{
 			rotation=angleRadian;
 			if(withPreviousRotation)
 				prevRotation=angleRadian;
+			WakeUp();
 			UpdateMeshTransforms();
 			return this;
 		}
@@ -406,10 +423,11 @@ class QBody{
 
 		/** Adds a value to the rotation of the body. 
 		 * @param angleRadian A value to add, in radians. 
+		 * @param withPreviousRotation Determines whether apply the rotation to the previous rotation of the body.In this simulation, since velocities are implicit, if the previous rotation are the same as the newly set rotation, the angular velocity of the body will also be zeroed.Therefore, if you want to zero out the angular velocity when setting the new rotation, use this option.
 		 * @return A pointer to the body itself.
 		 */
-		QBody *AddRotation(float angleRadian){
-			return SetRotation(GetRotation()+angleRadian);
+		QBody *AddRotation(float angleRadian, bool withPreviousRotation=true){
+			return SetRotation(GetRotation()+angleRadian,withPreviousRotation);
 		}
 		/** Sets the previous rotation of the body. 
 		 * @param angleRadian A rotation value to set, in radians. 
@@ -547,6 +565,11 @@ class QBody{
 			return this;
 		}
 
+		/**
+		 * Sets whether the application of gravity and various velocity integrators necessary for the body's movement in the physics world is enabled. It is set to true by default. Typically, it is disabled for specific body objects that require manual control.
+		 */
+		QBody *SetIntegratedVelocitiesEnabled(bool value);
+
 
 		//Mesh Methods
 		/** Adds a mesh to the body.
@@ -585,6 +608,12 @@ class QBody{
 			return this;
 		}
 
+		/**
+		 * Limits the velocity of the physics body. If set to 0, no velocity limit is applied. The default value is 0.
+		 * @return A pointer to the body itself.
+		 */
+		QBody *SetVelocityLimit(float value);
+
 
 		friend class QMesh;
 		friend class QWorld;

QuarkPhysics/qmesh.cpp

@@ -689,7 +689,7 @@ float QMesh::GetPolygonArea(vector<QParticle *> &polygonPoints,bool withLocalPos
 		area+=(a+b)*h*0.5f;
 	}
 
-	return abs(area);
+	return -area;
 }
 
 bool QMesh::CheckCollisionBehaviors(QMesh *meshA, QMesh *meshB, CollisionBehaviors firstBehavior, CollisionBehaviors secondBehavior){

QuarkPhysics/qrigidbody.cpp

@@ -137,13 +137,17 @@ void QRigidBody::Update()
 		prevPosition.y=position.y;
 	}
 
+	if (velocityLimit>0.0f && vel.Length()>velocityLimit){
+		vel=velocityLimit*vel.Normalized();
+	}
+
 	//Angular Velocity
 	float rotVel=rotation-prevRotation;
 	prevRotation=rotation;
 
 
 	//Verlet Integration
-	if(isKinematic==false){
+	if(isKinematic==false && enableIntegratedVelocities==true){
 		position+=vel-(vel*airFriction);
 		position+=(world->GetGravity()*mass*ts);
 		rotation+=rotVel-(rotVel*airFriction);
@@ -158,3 +162,8 @@ void QRigidBody::Update()
 	UpdateMeshTransforms();
 	UpdateAABB();
 }
+
+void QRigidBody::PostUpdate()
+{
+
+}

QuarkPhysics/qrigidbody.h

@@ -40,8 +40,8 @@ class QRigidBody : public QBody
 {
 	bool fixedRotation=false;
 protected:
-	QVector force=QVector::Zero();
 	float angularForce=0.0f;
+	QVector force=QVector::Zero();
 public:
 	QRigidBody();
 
@@ -129,7 +129,10 @@ class QRigidBody : public QBody
 
 
 	/** Updates properties of the rigid body and applies needed physical dynamics. */
-	void Update();
+	virtual void Update();
+
+	/** Called after all bodies have completed their Update step to perform post-update operations. */
+	virtual void PostUpdate();
 
 
 };

QuarkPhysics/qsoftbody.cpp

@@ -33,6 +33,38 @@
 #include "cmath"
 #include <utility>
 
+bool QSoftBody::IsPolygonCW(vector<QParticle *> polygon)
+{
+    int n = polygon.size();
+    if (n < 3) return false; // Poligon geçerli değil
+
+    // Geometrik merkez (ortalama pozisyon)
+    QVector center(0, 0);
+    for (const auto& point : polygon) {
+        center += point->GetGlobalPosition();
+    }
+    center /= n;
+
+    // İşaret kontrolü
+    float totalCross = 0.0f; // Toplam çapraz çarpım
+    for (int i = 0; i < n; ++i) {
+        QVector current = polygon[i]->GetGlobalPosition();
+        QVector next = polygon[(i + 1) % n]->GetGlobalPosition();
+
+        // Kenar vektörü
+        QVector edge = next - current;
+
+        // Kenarın merkezle olan vektörüne göre çapraz çarpımı hesapla
+        QVector toCenter = center - current;
+        float cross = edge.x * toCenter.y - edge.y * toCenter.x;
+
+        totalCross += cross;
+    }
+
+    // Toplam çapraz çarpımın işareti poligonun yönünü belirler
+    return totalCross < 0; // Pozitifse saat yönünün tersi
+}
+
 QSoftBody::QSoftBody()
 {
 	simulationModel=SimulationModels::MASS_SPRING;
@@ -78,9 +110,15 @@ void QSoftBody::Update()
 			if(GetPassivationOfInternalSpringsEnabled() && particle->GetIsInternal())
 				continue;
 			auto vel=particle->GetGlobalPosition()-particle->GetPreviousGlobalPosition();
+			if (velocityLimit>0.0f && vel.Length()>velocityLimit){
+				vel=velocityLimit*vel.Normalized();
+			}
+
 			particle->SetPreviousGlobalPosition(particle->GetGlobalPosition() );
-			particle->ApplyForce(vel-(vel*airFriction) );
-			particle->ApplyForce(mass*world->GetGravity()*ts);
+			if(enableIntegratedVelocities==true){
+				particle->ApplyForce(vel-(vel*airFriction) );
+				particle->ApplyForce(mass*world->GetGravity()*ts);
+			}
 			particle->ApplyForce(particle->GetForce());
 			particle->SetForce(QVector::Zero());
 		}
@@ -104,6 +142,12 @@ void QSoftBody::Update()
 
 }
 
+void QSoftBody::PostUpdate()
+{
+
+}
+
+
 void QSoftBody::PreserveAreas()
 {
 
@@ -123,28 +167,40 @@ void QSoftBody::PreserveAreas()
 
 		if(mesh->GetSpringCount()==0)continue;
 		float currentMeshesArea=mesh->GetPolygonsArea();
-		float circumference=GetCircumference();
+
+		if(currentMeshesArea<-targetPreservationArea*5){
+			currentMeshesArea=-targetPreservationArea*5;
+		}
+		if(currentMeshesArea>targetPreservationArea*5){
+			currentMeshesArea=targetPreservationArea*5;
+		}
+		float circumference=max (GetCircumference(),0.001f);
 
 		float deltaArea=(targetPreservationArea*areaPreservingRate)-currentMeshesArea;
+
 		if(enableAreaStability==false){
 			if(deltaArea<0){
 				deltaArea=0;
 			}else{
 				enableAreaStability=true;
 			}
 		}
-
+
+		if (deltaArea==0.0f){
+			return;
+		}
 
 		float pressure=(deltaArea/circumference)*areaPreservingRigidity;
 
 
-
 		QVector volumeForces[mesh->polygon.size()];
+		QVector centerOfMesh=QMesh::GetAveragePositionAndRotation(mesh->polygon).first;
 		for(int n=0;n<mesh->polygon.size();n++){
 			QParticle *pp=mesh->polygon[ (n-1+mesh->polygon.size())%mesh->polygon.size() ];
 			QParticle *np=mesh->polygon[ (n+1)%mesh->polygon.size() ];
 			QVector vec=np->GetGlobalPosition()-pp->GetGlobalPosition();
-			volumeForces[n]=pressure*(vec.Perpendicular().Normalized())*ts;	
+			QVector normal=vec.Perpendicular().Normalized();
+			volumeForces[n]=pressure*(normal)*ts;
 		}
 
 		for(int n=0;n<mesh->polygon.size();n++){

QuarkPhysics/qsoftbody.h

@@ -72,6 +72,8 @@ class QSoftBody : public QBody
 		}
 	}
 
+	bool IsPolygonCW(vector<QParticle*> polygon);
+
 
 public:
 	QSoftBody();
@@ -295,7 +297,9 @@ class QSoftBody : public QBody
 
 	//
 	/** Updates properties of the soft body and applies needed physical dynamics. */
-	void Update();
+	virtual void Update();
+	/** Called after all bodies have completed their Update step to perform post-update operations. */
+	virtual void PostUpdate();
 	/** Applies the preserve area operation to the body. */ 
 	void PreserveAreas();
 	/** Applies the shape matching operation to the body. */