Fixed some sleeping feature problems. Fixed low-mass inertia problems.

QuarkPhysics/qbody.h

@@ -79,8 +79,6 @@ class QBody{
 	Modes mode=QBody::Modes::DYNAMIC;
 	bool inertiaNeedsUpdate=true;
 	bool circumferenceNeedsUpdate=true;
-	QVector force=QVector::Zero();
-	float angularForce=0.0f;
 	bool enableBodySpecificTimeScale=false;
 	float bodySpecificTimeScale=1.0f;
 	BodyTypes bodyType=BodyTypes::RIGID;
@@ -162,12 +160,12 @@ class QBody{
 
 
 
+		//General Get Methods
 
 		/** Returns the type of the body. */
 		BodyTypes GetBodyType(){
 			return bodyType;
 		}
-		//General Get Methods
 		/** Returns the world. */
 		QWorld *GetWorld(){
 			return world;
@@ -240,7 +238,7 @@ class QBody{
 		float GetInertia(){
 			if(inertiaNeedsUpdate==true){
 				inertia=GetTotalInitialArea()*2.0f*mass;
-				inertia=inertia==0.0f ? 0.25:inertia;
+				inertia=inertia<500.0f ? 500.0f:inertia;
 				inertiaNeedsUpdate=false;
 			}
 			return inertia;
@@ -318,14 +316,7 @@ class QBody{
 
 			return circumference;
 		}
-		/** Returns the current force value of the body. */
-		QVector GetForce(){
-			return force;
-		}
-		/** Returns the current angular force value of the body. */
-		float GetAngularForce(){
-			return angularForce;
-		}
+
 		/** Returns whether the body spesific time scale is enabled. */
 		bool GetBodySpecificTimeScaleEnabled(){
 			return enableBodySpecificTimeScale;
@@ -402,22 +393,7 @@ class QBody{
 		QBody * SetRotationDegree(float degree, bool withPreviousRotation=true){
 			return SetRotation( degree*(M_PI/180.0f),withPreviousRotation );
 		}
-		/** Sets the force value of the body. Set forces determine the force to be applied to a body object at the next physics step from the current step. 
-		 * @param value A value to set. 
-		 * @return A pointer to the body itself.
-		 */
-		QBody *SetForce(QVector value){
-			force=value;
-			return this;
-
-		}
-		/** Adds a vector to the force value of the body. Set forces determine the force to be applied to a body object at the next physics step from the current step. 
-		 * @param value A value to add. 
-		 * @return A pointer to the body itself.
-		 */
-		QBody *AddForce(QVector value){
-			return SetForce(GetForce()+value);
-		}
+
 		/** Adds a value to the rotation of the body. 
 		 * @param angleRadian A value to add, in radians. 
 		 * @return A pointer to the body itself.
@@ -440,21 +416,7 @@ class QBody{
 		QBody *AddPreviousRotation(float angleRadian){
 			return SetPreviousRotation(GetPreviousRotation()+angleRadian);
 		}
-		/** Sets the angular force of the body. 
-		 * @param value A value to set. 
-		 * @return A pointer to the body itself.
-		 */
-		QBody *SetAngularForce(float value){
-			angularForce=value;
-			return this;
-		}
-		/** Adds a value to the angular force of the body. 
-		 * @param value A value to add. 
-		 * @return A pointer to the body itself.
-		 */
-		QBody *AddAngularForce(float value){
-			return SetAngularForce(GetAngularForce()+value);
-		}
+
 
 
 
@@ -574,8 +536,6 @@ class QBody{
 			enabled=true;
 		}
 
-
-
 
 		//Mesh Methods
 		/** Adds a mesh to the body.
@@ -604,6 +564,17 @@ class QBody{
 		QBody * AddMeshesFromFile(string filePath);
 
 
+		//Methods About the Sleeping Feature
+		/**
+		 * Wakes up a body that is in a sleeping state.
+		 * @return A pointer to the body itself.
+		 */
+		QBody* WakeUp() {
+			isSleeping = false;
+			return this;
+		}
+
+
 		friend class QMesh;
 		friend class QWorld;
 		friend class QManifold;

QuarkPhysics/qmesh.cpp

@@ -185,10 +185,10 @@ void QMesh::UpdateSubConvexPolygons()
 	subConvexPolygons.clear();
 	if (CheckIsPolygonConcave(polygon)==true ){
 		DecompositePolygon(polygon,subConvexPolygons);
-		cout<<"polygon is concave"<<endl;
+		// cout<<"polygon is concave"<<endl;
 	}else{
 		subConvexPolygons.push_back( polygon );
-		cout<<"polygon is convex"<<endl;
+		// cout<<"polygon is convex"<<endl;
 	}
 
 }
@@ -421,7 +421,7 @@ void QMesh::DecompositePolygon(vector<QParticle *> &polygonParticles, vector<vec
 
 	//Per all subPolygons
 	while (ia!=subPolygons.size()){
-		cout<<"started subpolygons loop ia is:"<<ia <<endl;
+		// cout<<"started subpolygons loop ia is:"<<ia <<endl;
 		auto polyA=subPolygons[ia];
 		bool isDiagonal=false;
 		//Check diagonals
@@ -432,7 +432,7 @@ void QMesh::DecompositePolygon(vector<QParticle *> &polygonParticles, vector<vec
 			for (size_t ib=0;ib<subPolygons.size();ib++ ){
 				if (ia==ib)
 					continue;
-				cout<<"started subpolygons loop ib is:"<<ib <<endl;
+				// cout<<"started subpolygons loop ib is:"<<ib <<endl;
 				auto polyB=subPolygons[ib];
 				for (size_t nb=0;nb<polyB.size();nb++ ){
 					int pB1=polyB[nb];
@@ -447,32 +447,32 @@ void QMesh::DecompositePolygon(vector<QParticle *> &polygonParticles, vector<vec
 						int pIndex=(nb+1)%polyB.size();
 						int pos=na+1;
 						//Adding points to first polygon
-						cout<<"adding next polygon to prev polygon"<<endl;
+						// cout<<"adding next polygon to prev polygon"<<endl;
 						while (pIndex!=(nb-1+polyB.size() )%polyB.size() ){
 							pIndex=(pIndex+1)%polyB.size();
 							polyA.insert(polyA.begin()+pos,polyB[pIndex]);
 							pos+=1;
 						}
 						subPolygons[ia]=polyA;
-						cout<<"erased polygon"<<endl;
+						// cout<<"erased polygon"<<endl;
 						subPolygons.erase(subPolygons.begin()+ib );
-						cout<<"erased polygon finished"<<endl;
+						// cout<<"erased polygon finished"<<endl;
 						isDiagonal=true;
 						break;
 					}
 				}
 				if (isDiagonal){
-					cout<<"exiting for polyB  loop"<<endl;
+					// cout<<"exiting for polyB  loop"<<endl;
 					break;
 				}
 			}
 			if (isDiagonal){
-				cout<<"exiting for polyA loop"<<endl;
+				// cout<<"exiting for polyA loop"<<endl;
 				break;	
 			}
 		}
 		if (isDiagonal){
-			cout<<"continue subpolygons loop ia is:"<<ia <<endl;
+			// cout<<"continue subpolygons loop ia is:"<<ia <<endl;
 			continue;
 		}
 		ia+=1;

QuarkPhysics/qparticle.cpp

@@ -84,6 +84,9 @@ QParticle *QParticle::SetPosition(QVector value){
 		if(ownerBody!=nullptr){
 			ownerBody->inertiaNeedsUpdate=true;
 			ownerBody->circumferenceNeedsUpdate=true;
+			if (ownerBody->GetBodyType()==QBody::BodyTypes::SOFT){
+				ownerBody->WakeUp();
+			}
 		}
 	}
 	return this;
@@ -129,6 +132,11 @@ QParticle *QParticle::ApplyForce(QVector value)
 	return this;
 }
 QParticle *QParticle::SetForce(QVector value){
+	if (ownerMesh!=nullptr){
+		if (ownerMesh->GetOwnerBody()!=nullptr ){
+			ownerMesh->GetOwnerBody()->WakeUp();
+		}
+	}
 	force=value;
 	return this;
 }

QuarkPhysics/qrigidbody.cpp

@@ -75,8 +75,33 @@ QRigidBody *QRigidBody::ApplyImpulse(QVector impulse, QVector r)
 	return this;
 }
 
-void QRigidBody::Update(){
-	if(mode==QBody::STATIC){
+QRigidBody *QRigidBody::SetForce(QVector value)
+{
+	WakeUp();
+    force=value;
+	return this;
+}
+
+QRigidBody *QRigidBody::AddForce(QVector value)
+{
+    return SetForce(GetForce()+value);
+}
+
+QRigidBody *QRigidBody::SetAngularForce(float value)
+{
+	WakeUp();
+    angularForce=value;
+	return this;
+}
+
+QRigidBody *QRigidBody::AddAngularForce(float value)
+{
+    return SetAngularForce(GetAngularForce()+value);
+}
+
+void QRigidBody::Update()
+{
+    if(mode==QBody::STATIC){
 		return;
 	}
 	if(world==nullptr){
@@ -133,5 +158,3 @@ void QRigidBody::Update(){
 	UpdateMeshTransforms();
 	UpdateAABB();
 }
-
-

QuarkPhysics/qrigidbody.h

@@ -39,6 +39,9 @@
 class QRigidBody : public QBody
 {
 	bool fixedRotation=false;
+protected:
+	QVector force=QVector::Zero();
+	float angularForce=0.0f;
 public:
 	QRigidBody();
 
@@ -56,6 +59,15 @@ class QRigidBody : public QBody
 		return allowKinematicCollisions;
 	}
 
+	/** Returns the current force value of the body. */
+	QVector GetForce(){
+		return force;
+	}
+	/** Returns the current angular force value of the body. */
+	float GetAngularForce(){
+		return angularForce;
+	}
+
 	//Set Methods
 	/** Sets whether the fixed rotation option is enabled. If set to true, the rotation value of the body never affected with the physics simulation. */
 	QRigidBody* SetFixedRotationEnabled(bool value){
@@ -93,6 +105,29 @@ class QRigidBody : public QBody
 	 * @param r The relative position to apply impulse.
 	 */
 	QRigidBody* ApplyImpulse(QVector impulse,QVector r);
+	/** Sets the force value of the body. Set forces determine the force to be applied to a body object at the next physics step from the current step. 
+	 * @param value A value to set. 
+	 * @return A pointer to the body itself.
+	 */
+	QRigidBody *SetForce(QVector value);
+	/** Adds a vector to the force value of the body. Set forces determine the force to be applied to a body object at the next physics step from the current step. 
+	 * @param value A value to add. 
+	 * @return A pointer to the body itself.
+	 */
+	QRigidBody *AddForce(QVector value);
+
+	/** Sets the angular force of the body. 
+	 * @param value A value to set. 
+	 * @return A pointer to the body itself.
+	 */
+	QRigidBody *SetAngularForce(float value);
+	/** Adds a value to the angular force of the body. 
+	 * @param value A value to add. 
+	 * @return A pointer to the body itself.
+	 */
+	QRigidBody *AddAngularForce(float value);
+
+
 	/** Updates properties of the rigid body and applies needed physical dynamics. */
 	void Update();
 

examples/examplesceneplatformer.cpp

@@ -214,14 +214,14 @@ bool ExampleScenePlatformer::OnPlayerCollision(QBody *body, QBody::CollisionInfo
 	//Floor properties
 	auto side=QVector::GetVectorSide(-info.normal,QVector::Up());
 
-	if(info.body->GetBodyType()==QBody::BodyTypes::AREA){
+	if(info.body->GetBodyType()!=QBody::BodyTypes::RIGID){
 		return false;
 	}
 	//cout<<side<<endl;
 	if(side==QSides::DOWN){
 		isOnFloor=true;
 		//Defining currentfloor 
-		currentFloor=info.body;
+		currentFloor=static_cast<QRigidBody*>(info.body);
 	}else if(side==QSides::RIGHT){
 		isOnRightWall=true;
 	}else if(side==QSides::LEFT){

examples/examplesceneplatformer.h

@@ -46,7 +46,7 @@ class ExampleScenePlatformer : public QExampleScene
 	//Player properties
 	QRigidBody *player;
 	QVector velocity;
-	QBody *currentFloor=nullptr;
+	QRigidBody *currentFloor=nullptr;
 	int jumpTickCount=30;
 	int jumpTickDown=0;
 

main.cpp

@@ -258,7 +258,7 @@ int main()
 	window->setFramerateLimit(60);
 	window->setKeyRepeatEnabled(false);
 
-	LoadExampleScene(9);
+	LoadExampleScene(1);
 
 	while (window->isOpen())
 	{