added leapfrog integration #311
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leapfrog integration applies half of the first acceleration update to velocity on the first frame of waking. After that, the updates proceed as usual. This corrects impulses and makes them work as expected rather than losing 5% of the energy after the first frame.
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Leapfrog integration applies half of the first acceleration update to velocity on the first frame after waking. After that, the updates proceed as usual with the full acceleration applied each frame. This corrects for impulses which otherwise have too much of the first frame's acceleration applied to them and lose mechincal energy as a result.
This fixes issue #308
I have also included some tests here:
https://github.com/LSBUGPG/PhysXJump/tree/test-without-leapfrog-integration
https://github.com/LSBUGPG/PhysXJump/tree/test-leapfrog-integration
Leapfrog integration is implemented by setting
PxsRigidBody::mAccelScaleto 0.5 when a body is first woken up (or added to a scene with an initial velocity) inSc::Scene::onBodyWakeUp. It then resets this scale back to 1.0 after integration for all active bodies inSc::Scene::afterIntegration.PxsRigidBody::mAccelScaleis already used when applying the acceleration from the built in gravity. I've also modifiedBodySim::updateForcesto use this value when manually applying gravity (or any other acceleration.)