From fa15fce4ef31773e1b29379366e2d8a020d87ee2 Mon Sep 17 00:00:00 2001
From: Michael Mainguy <mike.mainguy@gmail.com>
Date: Mon, 24 Nov 2025 17:03:41 -0600
Subject: [PATCH] Fixed some physics problems.

---
 src/core/gameConfig.ts                | 10 ++++++----
 src/ship/input/inputControlManager.ts |  2 ++
 src/ship/shipPhysics.ts               | 22 +++++++++++++++-------
 3 files changed, 23 insertions(+), 11 deletions(-)

diff --git a/src/core/gameConfig.ts b/src/core/gameConfig.ts
index c4a857e..480f03f 100644
--- a/src/core/gameConfig.ts
+++ b/src/core/gameConfig.ts
@@ -4,13 +4,14 @@
 const DEFAULT_SHIP_PHYSICS = {
     maxLinearVelocity: 200,
     maxAngularVelocity: 1.4,
-    linearForceMultiplier: 100,
+    linearForceMultiplier: 500,
     angularForceMultiplier: 1.5,
-    linearFuelConsumptionRate: 0.00002778,   // 1 minute at full thrust (60 Hz)
+    linearFuelConsumptionRate: 0.0002778,   // 1 minute at full thrust (60 Hz)
     angularFuelConsumptionRate: 0.0001389,   // 2 minutes at full thrust (60 Hz)
     linearDamping: 0.2,
-    angularDamping: 0.3, // Moderate damping for 2-3 second coast
-    alwaysActive: true   // Prevent physics sleep (false may cause abrupt stops at zero velocity)
+    angularDamping: 0.5, // Moderate damping for 2-3 second coast
+    alwaysActive: true,  // Prevent physics sleep (false may cause abrupt stops at zero velocity)
+    reverseThrustFactor: 0.3 // Reverse thrust at 50% of forward thrust power
 };
 
 /**
@@ -85,6 +86,7 @@ export class GameConfig {
                         linearDamping: config.shipPhysics.linearDamping ?? DEFAULT_SHIP_PHYSICS.linearDamping,
                         angularDamping: config.shipPhysics.angularDamping ?? DEFAULT_SHIP_PHYSICS.angularDamping,
                         alwaysActive: config.shipPhysics.alwaysActive ?? DEFAULT_SHIP_PHYSICS.alwaysActive,
+                        reverseThrustFactor: config.shipPhysics.reverseThrustFactor ?? DEFAULT_SHIP_PHYSICS.reverseThrustFactor,
                     };
                 }
             } else {
diff --git a/src/ship/input/inputControlManager.ts b/src/ship/input/inputControlManager.ts
index 83637ba..b7c4fcd 100644
--- a/src/ship/input/inputControlManager.ts
+++ b/src/ship/input/inputControlManager.ts
@@ -119,10 +119,12 @@ export class InputControlManager {
         }
 
         // Enable pointer selection
+        console.log(`[InputControlManager] About to update pointer feature...`);
         this.updatePointerFeature();
 
         // Emit state change event
         this.emitStateChange(requester);
+        console.log(`[InputControlManager] ===== Ship controls disabled =====`);
     }
 
     /**
diff --git a/src/ship/shipPhysics.ts b/src/ship/shipPhysics.ts
index 2ba5cb9..055b8c4 100644
--- a/src/ship/shipPhysics.ts
+++ b/src/ship/shipPhysics.ts
@@ -71,21 +71,29 @@ export class ShipPhysics {
                 // Only apply force if we haven't reached max velocity
                 if (currentSpeed < this._config.maxLinearVelocity) {
                     // Get local direction (Z-axis for forward/backward thrust)
-                    const localDirection = new Vector3(0, 0, -leftStick.y);
+                    const thrustDirection = -leftStick.y; // negative = forward, positive = reverse
+                    const localDirection = new Vector3(0, 0, thrustDirection);
+
                     // Transform to world space
                     const worldDirection = Vector3.TransformNormal(
                         localDirection,
                         transformNode.getWorldMatrix()
                     );
-                    const force = worldDirection.scale(this._config.linearForceMultiplier);
 
-                    // Apply force at center of mass to avoid unintended torque
-                    // (applying at an offset point creates rotation, noticeable at zero linear velocity)
-                    const thrustPoint = Vector3.TransformCoordinates(
-                        physicsBody.getMassProperties().centerOfMass,
-                        transformNode.getWorldMatrix()
+                    // Apply reverse thrust factor: forward at full power, reverse at reduced power
+                    const thrustMultiplier = thrustDirection < 0
+                        ? 1.0  // Forward thrust at full power
+                        : this._config.reverseThrustFactor;  // Reverse thrust scaled down
+
+                    const force = worldDirection.scale(
+                        this._config.linearForceMultiplier * thrustMultiplier
                     );
 
+                    // Apply force at ship's world position (center of mass)
+                    // Since we overrode center of mass to (0,0,0) in local space, the transform origin is the CoM
+                    // Using getAbsolutePosition() instead of transforming CoM avoids gyroscopic coupling during rotation
+                    const thrustPoint = transformNode.getAbsolutePosition();
+
                     physicsBody.applyForce(force, thrustPoint);
 
                     // Consume fuel based on config rate (tuned for 1 minute at full thrust)