/// <summary>
/// Updates the sleeping state. Is called in <see cref="UpdateVelocity"/>.
/// </summary>
/// <param name="deltaTime">The time step.</param>
private void UpdateSleeping(float deltaTime)
{
if (IsSleeping || !CanSleep)
{
return;
}
if (MotionType == MotionType.Dynamic)
{
if (LinearVelocity.LengthSquared() < Simulation.Settings.Sleeping.LinearVelocityThresholdSquared &&
AngularVelocity.LengthSquared() < Simulation.Settings.Sleeping.AngularVelocityThresholdSquared)
{
// Movement is below threshold. Increase counter.
_noMovementTime += deltaTime;
// Static bodies sleep immediately. Kinematic and dynamic bodies are handled here.
// Dynamic bodies can only sleep if their whole island is sleeping. (Note: When the island
// is processed the sleeping of the dynamic body is deferred if the island is awake.)
if (_noMovementTime > Simulation.Settings.Sleeping.TimeThreshold)
{
IsSleeping = true;
}
}
else
{
// Movement detected.
_noMovementTime = 0;
}
}
else
{
if (LinearVelocity.LengthSquared() < Numeric.EpsilonFSquared &&
AngularVelocity.LengthSquared() < Numeric.EpsilonFSquared)
{
// Kinematic bodies are set to sleep immediately!
IsSleeping = true;
_linearVelocity = Vector3.Zero;
_angularVelocity = Vector3.Zero;
_noMovementTime = float.PositiveInfinity;
}
else
{
// Movement detected.
_noMovementTime = 0;
}
}
}
public void UpdateDeactivation(float timeStep)
{
if ((ActivationState == ActivationState.IslandSleeping) || (ActivationState == ActivationState.DisableDeactivation))
{
return;
}
if ((LinearVelocity.LengthSquared() < LinearSleepingThreshold * LinearSleepingThreshold) &&
(AngularVelocity.LengthSquared() < AngularSleepingThreshold * AngularSleepingThreshold))
{
DeactivationTime += timeStep;
}
else
{
DeactivationTime = 0;
ActivationState = ActivationState.Nothing;
}
}
/// <summary>
/// Applies damping to reduce speeds
/// </summary>=
public void ApplyDamping(float dt)
{
float ne = GetKineticEnergy() * m_OneOverMass;
float ld = (1.0f - m_LinearDamping);
float ad = (1.0f - m_AngularDamping);
if ((ne >= m_SleepEnergyThreshold || ne > m_LastKineticEnergy) || AngularVelocity.LengthSquared() > SleepAngularVelocityThreshold)
{
m_DeactivationTimer += dt;
m_DeactivationTimer = m_DeactivationTimer < GLOBAL_DEACTIVATION_TIMER ? m_DeactivationTimer : GLOBAL_DEACTIVATION_TIMER;
}
else
{
m_DeactivationTimer -= dt;
m_DeactivationTimer = m_DeactivationTimer < 0.0f ? 0.0f : m_DeactivationTimer;
/* Do we really need this, when default AD is set?
* //Extra damping
* float d = m_DeactivationTimer / GLOBAL_DEACTIVATION_TIMER;
* d = d < 0.01 ? 0.01f : d;
*
* //Damping
* float d2 = d*d;
*
* ld = ld * d2;
* ad = ad * d2;*/
}
m_Velocity = m_Velocity * (float)Math.Pow(ld, dt);
m_AngularVelocity = m_AngularVelocity * (float)Math.Pow(ad, dt);
MinerWars.AppCode.Game.Utils.MyUtils.AssertIsValid(m_AngularVelocity);
m_LastKineticEnergy = ne;
if (m_AngularVelocity.LengthSquared() < (0.001f * 0.001f))
{
m_AngularVelocity = Vector3.Zero;
}
if (m_Velocity.LengthSquared() < (0.02f * 0.02f))
{
m_Velocity = Vector3.Zero;
}
}
