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Fix Drag Mode Angular Momentum [AARD-1966] #1215

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Merged
merged 4 commits into from
Jul 19, 2025
Merged

Fix Drag Mode Angular Momentum [AARD-1966] #1215

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8ee5080
feat: make angular momentum controlled in drag mode
rutmanz Jul 15, 2025
5167227
fix: actually stop wiggling
rutmanz Jul 15, 2025
fbd611e
Merge `dev`
BrandonPacewic Jul 18, 2025
9bd1f0e
Merge branch 'dev' into zachr/1966/dragmodemomentum
PepperLola Jul 19, 2025
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50 changes: 17 additions & 33 deletions fission/src/systems/scene/DragModeSystem.ts
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Original file line number Diff line number Diff line change
Expand Up @@ -2,17 +2,18 @@ import * as THREE from "three"
import WorldSystem from "../WorldSystem"
import World from "../World"
import JOLT from "@/util/loading/JoltSyncLoader"
import { convertThreeVector3ToJoltVec3, convertJoltVec3ToThreeVector3 } from "@/util/TypeConversions"
import { convertJoltVec3ToThreeVector3, convertThreeVector3ToJoltVec3 } from "@/util/TypeConversions"
import MirabufSceneObject, { RigidNodeAssociate } from "@/mirabuf/MirabufSceneObject"
import {
InteractionStart,
InteractionMove,
InteractionEnd,
InteractionMove,
InteractionStart,
PRIMARY_MOUSE_INTERACTION,
} from "./ScreenInteractionHandler"
import { CustomOrbitControls, SphericalCoords } from "./CameraControls"
import Jolt from "@azaleacolburn/jolt-physics"
import { MiraType } from "@/mirabuf/MirabufLoader"
import InputSystem from "@/systems/input/InputSystem.ts"

interface DragTarget {
bodyId: Jolt.BodyID
Expand Down Expand Up @@ -59,6 +60,7 @@ class DragModeSystem extends WorldSystem {
// Precision and sensitivity
MINIMUM_DISTANCE_THRESHOLD: 0.02, // Minimum distance to apply forces (smaller = more precision)
WHEEL_SCROLL_SENSITIVITY: -0.01, // Mouse wheel scroll sensitivity for Z-axis
ROTATION_SPEED: 200.0, // speed of arrow key rotation. lower = more precise, higher = more
} as const

private _enabled: boolean = false
Expand Down Expand Up @@ -564,25 +566,19 @@ class DragModeSystem extends WorldSystem {
const joltForce = convertThreeVector3ToJoltVec3(forceNeeded)
body.AddForce(joltForce)

// Calculate torque to simulate force applied at the drag point
// Use the current world offset (which rotates with the body)
const leverArm = currentWorldOffset // vector from COM to drag point in world coordinates
const torque = leverArm.cross(forceNeeded) // Cross product gives us the torque
const joltTorque = convertThreeVector3ToJoltVec3(torque)
body.AddTorque(joltTorque)

// Reduce angular damping since we want the natural rotation from the applied force
const angularVel = body.GetAngularVelocity()
const angularDampingStrength = Math.min(
mass * DragModeSystem.DRAG_FORCE_CONSTANTS.ANGULAR_DAMPING_BASE,
DragModeSystem.DRAG_FORCE_CONSTANTS.ANGULAR_DAMPING_MAX
const yawRotation = new JOLT.Vec3(
0,
DragModeSystem.DRAG_FORCE_CONSTANTS.ROTATION_SPEED *
(InputSystem.isKeyPressed("ArrowRight") ? 1 : 0 - (InputSystem.isKeyPressed("ArrowLeft") ? 1 : 0)),
0
)
const angularDampingTorque = new JOLT.Vec3(
-angularVel.GetX() * angularDampingStrength,
-angularVel.GetY() * angularDampingStrength,
-angularVel.GetZ() * angularDampingStrength
const cameraVector = World.sceneRenderer.mainCamera.getWorldDirection(new THREE.Vector3(0, 0, 0))
const pitchRotation = new JOLT.Vec3(cameraVector.z, 0, -cameraVector.x).Mul(
DragModeSystem.DRAG_FORCE_CONSTANTS.ROTATION_SPEED *
(InputSystem.isKeyPressed("ArrowUp") ? 1 : 0 - (InputSystem.isKeyPressed("ArrowDown") ? 1 : 0))
)
body.AddTorque(angularDampingTorque)
body.AddTorque(yawRotation)
body.AddTorque(pitchRotation)
} else {
// When close to target, apply braking forces and gravity compensation
const currentVel = body.GetLinearVelocity()
Expand All @@ -602,21 +598,9 @@ class DragModeSystem extends WorldSystem {
const gravityCompensationY = mass * DragModeSystem.DRAG_FORCE_CONSTANTS.GRAVITY_MAGNITUDE
brakingForce.SetY(brakingForce.GetY() + gravityCompensationY)
}

body.AddForce(brakingForce)

const angularVel = body.GetAngularVelocity()
const angularBrakingStrength = Math.min(
mass * DragModeSystem.DRAG_FORCE_CONSTANTS.ANGULAR_BRAKING_BASE,
DragModeSystem.DRAG_FORCE_CONSTANTS.ANGULAR_BRAKING_MAX
)
const angularBrakingTorque = new JOLT.Vec3(
-angularVel.GetX() * angularBrakingStrength,
-angularVel.GetY() * angularBrakingStrength,
-angularVel.GetZ() * angularBrakingStrength
)
body.AddTorque(angularBrakingTorque)
}
body.SetAngularVelocity(new JOLT.Vec3())
}

private handleWheelDuringDrag(event: WheelEvent): void {
Expand Down
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