fix to jumping

panda/src/physics/config_physics.h

@@ -32,6 +32,11 @@ extern EXPCL_PANDAPHYSICS void init_libphysics();
   // Non-release build:
   #define PHYSICS_DEBUG
 
+  #define physics_spam(msg) \
+  if (physics_cat.is_spam()) { \
+    physics_cat->spam() << msg << endl; \
+  } else {}
+
   #define physics_debug(msg) \
   if (physics_cat.is_debug()) { \
     physics_cat->debug() << msg << endl; \
@@ -42,13 +47,18 @@ extern EXPCL_PANDAPHYSICS void init_libphysics();
 
   #define physics_warning(msg) \
     physics_cat->warning() << msg << endl
+
+  #define physics_error(msg) \
+    physics_cat->error() << msg << endl
 #else //][
   // Release build:
   #undef PHYSICS_DEBUG
 
+  #define physics_spam(msg) ((void)0)
   #define physics_debug(msg) ((void)0)
   #define physics_info(msg) ((void)0)
   #define physics_warning(msg) ((void)0)
+  #define physics_error(msg) ((void)0)
 #endif //]
 
 #define audio_error(msg) \

panda/src/physics/linearEulerIntegrator.cxx

@@ -67,6 +67,9 @@ child_integrate(Physical *physical,
   precompute_linear_matrices(physical, forces);
   const MatrixVector &matrices = get_precomputed_linear_matrices();
 
+  // Get the greater of the local or global viscosity:
+  float viscosityDamper=1.0f-physical->get_viscosity();
+
   // Loop through each object in the set.  This processing occurs in O(pf) time,
   // where p is the number of physical objects and f is the number of
   // forces.  Unfortunately, no precomputation of forces can occur, as
@@ -95,7 +98,6 @@ child_integrate(Physical *physical,
     LVector3f accel_vec;
     LVector3f vel_vec;
     
-    
     // reset the accumulation vectors for this object
     md_accum_vec.set(0.0f, 0.0f, 0.0f);
     non_md_accum_vec.set(0.0f, 0.0f, 0.0f);
@@ -122,6 +124,7 @@ child_integrate(Physical *physical,
       // now we go from force space to our object's space.
       f = cur_force->get_vector(current_object) * matrices[index++];
 
+      physics_spam("child_integrate "<<f);
       // tally it into the accum vectors.
       if (cur_force->get_mass_dependent() == true) {
         md_accum_vec += f;
@@ -144,6 +147,7 @@ child_integrate(Physical *physical,
       // go from force space to object space
       f = cur_force->get_vector(current_object) * matrices[index++];
 
+      physics_spam("child_integrate "<<f);
       // tally it into the accum vectors
       if (cur_force->get_mass_dependent() == true) {
         md_accum_vec += f;
@@ -160,7 +164,6 @@ child_integrate(Physical *physical,
     // we want 'a' in F = ma
     // get it by computing F / m
     nassertv(mass != 0.0f);
-
     accel_vec = md_accum_vec / mass;
     accel_vec += non_md_accum_vec;
 
@@ -180,12 +183,14 @@ child_integrate(Physical *physical,
     #else //][
     assert(current_object->get_position()==current_object->get_last_position());
     
+    accel_vec*=viscosityDamper;
+    
     // x = x + v * t + 0.5 * a * t * t
     pos += vel_vec * dt + 0.5 * accel_vec * dt * dt;
     // v = v + a * t
     vel_vec += accel_vec * dt;
     #endif //]
-
+    
     // and store them back.
     current_object->set_position(pos);
     current_object->set_velocity(vel_vec);

panda/src/physics/physicsCollisionHandler.cxx

@@ -75,7 +75,7 @@ apply_linear_force(ColliderDef &def, const LVector3f &force) {
 
   NodePath np(def._node);
   CPT(TransformState) trans = np.get_net_transform();
-  adjustment=adjustment*trans->get_mat();
+  //adjustment=adjustment*trans->get_mat();
   physics_debug("  adjustment trn "<<adjustment<<" len "<<adjustment.length());
 
   adjustment=adjustment*actor->get_physics_object()->get_lcs();