Quote:Original post by glSmurf
Static friction can easily be solved using an friction impulse with cof 1. But I have no clue how to solve kinetic frition in a correct way using impulses. I could apply it as a force(not impulse).

Quote:
// Particle
// normalDir must be unit length (normalized).
Vec3 pointMomentumInDir(Vec3 vel,float mass,Vec3 normalDir,float coeffRest) {
return mass*(1+coeffRest)*normalDir*(normalDir dot vel)
} // pointMomentumInDir

// ^ = dot
// % = cross

// RigidBody
Vec3 pointMomentumInDir(const Vec3 & dir,const Vec3 & ip,flt coeffRest) const {
Vec3 rp; // relative position
Vec3 pVel = pointVel(ip,rp);
flt vRel = dir ^ pVel;
if (vRel >= 0.f) return Vec3(0); // Resting or moving away
Vec3 rpDir = rp % dir;
flt angM = dir ^ (scaleLocal(rpDir,rotMassIdealInv,(Mat3 &)pos) % rp);
// flt angM = dir ^ (scaleLocal(rpDir,rotMassInv,(Mat3 &)pos) % rp);
// flt angM = dir ^ ((rotMassInvWorld ^ rpDir) % rp);
flt numerator = (-(1.f + coeffRest))*vRel;
flt j = numerator / (linMassInv + angM);
return dir * j;
} // pointMomentumInDir