Ok I got the physics rotation working, it just has one flaw :(
Open in online IDEGraphics3D 640,480,0,2 SeedRnd(MilliSecs()) cam = CreateCamera() MoveEntity cam,0,0,-12 CameraZoom cam,1.6 piv = CreatePivot() EntityParent cam,piv plane = CreatePlane() tex = CreateTexture(200,200) SetBuffer TextureBuffer(tex) Color 255,255,255 Rect 0,0,100,100,1 Rect 100,100,100,100 Color 0,225,0 Rect 0,100,100,100 Rect 100,0,100,100 Color 255,255,255 mir = CreateMirror() MoveEntity mir,0,-4,0 SetBuffer BackBuffer() EntityTexture plane,tex MoveEntity plane,0,-4,0 ScaleTexture tex,10,10 EntityAlpha plane,.5 lit = CreateLight() MoveEntity lit,0,5,0 TurnEntity lit,90,0,0 Type verlet Field x#,y#,z# Field vx#,vy#,vz# Field ox#,oy#,oz# Field ent,surf,index Field collided,ID,mass# End Type Type rigidbody Field x#,y#,z#,ent Field yaw#,pitch#,roll# Field ID End Type Type constraint Field p1.verlet Field p2.verlet Field ent Field length#,flex Field rnglow# Field rnghig# Field yaw#,pitch#,roll# End Type Global rigidbodynum = 0 Global cube = CreateCube() RotateMesh cube,0,0,44;Rnd(90),Rnd(90),Rnd(90) Applyphysics(cube,10) SetBuffer BackBuffer() tim = MilliSecs() While Not KeyDown(1) Cls TurnEntity piv,0,1,0 updateverlets() updateconstraints() equalizeverlets() drawstuff() UpdateWorld() RenderWorld() cnt = 0 For v.verlet = Each verlet cnt = cnt + 1 Next Text 1,20,"Verticies: "+cnt Text 1,1,"FPS: "+1000/(MilliSecs()-tim) tim = MilliSecs() Flip Wend WaitKey Function Applyphysics(ent,mass#,idle = 0,siz# = 5) rigidbodynum = rigidbodynum + 1 For k = 1 To CountSurfaces(ent) surf = GetSurface(ent,k) For index = 0 To CountVertices(surf)-1 TFormPoint VertexX(surf,index), VertexY(surf, index),VertexZ(surf, index), ent, 0 v.verlet = New verlet v\x# = TFormedX() v\y# = TFormedY() v\z# = TFormedZ() v\ox# = v\x# v\oy# = v\y# v\oz# = v\z# v\ent = ent v\surf = surf v\index = index v\collided =0 v\ID = rigidbodynum v\mass# = mass#/(CountSurfaces(ent)*CountVertices(surf)) Next Next r.rigidbody = New rigidbody r\id = rigidbodynum r\ent = ent r\x# = EntityX(r\ent) r\y# = EntityY(r\ent) r\z# = EntityZ(r\ent) r\yaw# = EntityYaw(r\ent) r\pitch# = EntityPitch(r\ent) r\roll# = EntityRoll(r\ent) For v.verlet = Each verlet For vv.verlet = Each verlet If vv\id = rigidbodynum And v\id = vv\id And v\index <> vv\index Then If vv\x# = v\x# And vv\y# = v\y# And vv\z# = v\z# Then Delete vv.verlet EndIf EndIf Next Next For v.verlet = Each verlet If v\ID = rigidbodynum Then If idle = 0 Then For vv.verlet = Each verlet If vv\id = rigidbodynum Then If vv\index <> v\index c.constraint = New constraint c\p1.verlet = v.verlet c\p2.verlet = vv.verlet dx# = c\p1\x# - c\p2\x# dy# = c\p1\y# - c\p2\y# dz# = c\p1\z# - c\p2\z# c\length# = Sqr(dx#*dx# + dy#*dy# + dz#*dz#) c\ent = c\p1\ent EndIf EndIf Next EndIf EndIf Next For c.constraint = Each constraint For cc.constraint = Each constraint If c\p1\index = cc\p1\index And c\p2\index = c\p1\index Then Delete cc.constraint EndIf Next Next End Function Function updateverlets() For v.verlet = Each verlet v\collided = False v\vx# = (v\x# - v\ox#)*.985 ; Get the velocities of the verlet,...add a bit of decay to simulate friction v\vy# = (v\y# - v\oy#)*.985 v\vz# = (v\z# - v\oz#)*.985 v\ox# = v\x# ; store position in "old" v\oy# = v\y# v\oz# = v\z# v\x# = v\x# + v\vx# ;store new postion based on velocity v\y# = v\y# + v\vy# - .007 v\z# = v\z# + v\vz# ;check screen bounds If v\y# < -4 ;ground collision v\y# = -4 v\collided = True v\vy# = -v\vy# EndIf Next End Function Function drawstuff() ;For v.verlet = Each verlet ;VertexCoords v\surf,v\index,v\x#,v\y#,v\z# ;Next For r.rigidbody = Each rigidbody cnt = 0 avgx# = 0 avgy# = 0 avgz# = 0 For v.verlet = Each verlet If v\ent = r\ent cnt = cnt + 1 avgx# = avgx# + v\x# avgy# = avgy# + v\y# avgz# = avgz# + v\z# EndIf Next avgx# = avgx#/cnt avgy# = avgy#/cnt avgz# = avgz#/cnt r\x# = avgx# r\y# = avgy# r\z# = avgz# RotateEntity r\ent,0,0,0 PositionEntity r\ent,avgx#,avgy#,avgz# cnt = 0 avgyaw =0 avgpitch = 0 avgroll = 0 For c.constraint = Each constraint If c\p1\ent = r\ent If cnt = 0 Then dx# = c\p1\x#-c\p2\x# dy# = c\p1\y#-c\p2\y# dz# = c\p1\z#-c\p2\z# AlignToVector c\p1\ent,dx#,dy#,dz#,1,1 EndIf If cnt = 1 Then dx# = c\p1\x#-c\p2\x# dy# = c\p1\y#-c\p2\y# dz# = c\p1\z#-c\p2\z# AlignToVector c\p1\ent,dx#,dy#,dz#,3,1 EndIf ; If cnt = 2 Then ; yaw# = EntityYaw(c\p1\ent) ; pitch# = EntityPitch(c\p1\ent) ; roll# = EntityRoll(c\p1\ent) ; yaw# = yaw# + c\yaw# ; pitch# = pitch# + c\pitch ; EndIf cnt = cnt + 1 EndIf Next Next End Function Function updateconstraints() For a = 1 To 2 For c.constraint = Each constraint dx#=c\p2\x# - c\p1\x# dy#=c\p2\y# - c\p1\y# dz#=c\p2\z# - c\p1\z# length#=Sqr(dx*dx + dy*dy + dz*dz) ; distance between p1 and p2 If length#<>0 ;avoid divide by 0, then normalize the vector diff# = (length# - c\length#) / length# ; vector length minus constraint length Else diff# = 0 EndIf dx# = dx# * .5 ;find the midpoint dy# = dy# * .5 dz# = dz# * .5 If c\p1\collided = 0 Then c\p1\x# = c\p1\x# + diff# * dx# c\p1\y# = c\p1\y# + diff# * dy# c\p1\z# = c\p1\z# + diff# * dz# EndIf If c\p2\collided = 0 Then c\p2\x# = c\p2\x# - diff# * dx# c\p2\y# = c\p2\y# - diff# * dy# c\p2\z# = c\p2\z# - diff# * dz# EndIf Next ;constraints Next End Function Function equalizeverlets() ;For c.constraint = Each constraint ; If c\length# = 0 Then ; dx#=c\p2\x# + c\p1\x# ; dy#=c\p2\y# + c\p1\y# ; dz#=c\p2\z# + c\p1\z# ; ; dx# = dx# * .5 ;find the midpoint ; dy# = dy# * .5 ; dz# = dz# * .5 ; ; c\p2\x# = dx# ; c\p2\y# = dy# ; c\p2\z# = dz# ; ; c\p1\x# = dx# ; c\p1\y# = dy# ; c\p1\z# = dz# ; ; EndIf ;Next End Function