koobas.hobune.stream
Trying to replicate Rigidbody.AddForceAtPosition
I'm working on a pretty specialized small physics simulation. It's extremely narrow and only really needs to handle gravity and execute one behavior, the Rigidbody.AddForceAtPosition() function. And since it's going to simulate a lot of identical bodies in the same way, I pretty sure I'm will gain a lot of performance by writing my own version i C which only does what I want super hard-coded.
The behavior works perfectly with a normal Rigidbody in Unity. So I'm trying to replicate my exact behavior (in C# first) without Unity's (good, but bloated for my uses) physics engine.
I've started to replicate the AddForceAtPosition(), but I'm not getting the same behavior. So TL;DR do you think this code does what AddForceAtPosition() does? Or are my physics off?
float mass = 1;
float inertia = 1;
// - Obv. not the real values -
Vector3 position = Vector3.zero;
Quaternion rotation = Quaternion.identity;
Vector3 force = Vector3.one;
Vector3 force_point = Vector3.one;
// --
linear_velocity += gravity * delta_time;
Vector3 linear_acc = Vector3.zero;
linear_acc = force / mass;
Vector3 angular_acc = Vector3.zero;
angular_acc += Vector3.Cross(position - force_point, force) / inertia;
linear_velocity += linear_acc * delta_time;
angular_velocity += angular_acc * delta_time;
position = position + linear_velocity * delta_time;
rotation = rotation * Quaternion.Euler(angular_velocity);
Looks alright but the real test would be to simulate two identical objects by adding the same force, one with AddForceAtPosition, and one with your custom script.
