Danbias/Code/GamePhysics/Implementation/SimpleRigidBody.cpp

#include "SimpleRigidBody.h"
#include "PhysicsAPI_Impl.h"

using namespace ::Oyster::Physics;
using namespace ::Oyster::Physics3D;
using namespace ::Oyster::Math3D;
using namespace ::Oyster::Collision3D;
using namespace ::Utility::DynamicMemory;
using namespace ::Utility::Value;

SimpleRigidBody::SimpleRigidBody()
{
	this->collisionShape = NULL;
	this->motionState = NULL;
	this->rigidBody = NULL;

	this->state.centerPos = Float3(0.0f, 0.0f, 0.0f);
	this->state.quaternion = Quaternion(Float3(0.0f, 0.0f, 0.0f), 1.0f);
	this->state.dynamicFrictionCoeff = 0.0f;
	this->state.staticFrictionCoeff = 0.0f;
	this->state.mass = 0.0f;
	this->state.restitutionCoeff = 0.0f;
	this->state.reach = Float3(0.0f, 0.0f, 0.0f);

	this->afterCollision = NULL;
	this->onMovement = NULL;

	this->customTag = nullptr;
}

SimpleRigidBody::~SimpleRigidBody()
{
	delete this->motionState;
	this->motionState = NULL;
	delete this->collisionShape;
	this->collisionShape = NULL;
	delete this->rigidBody;
	this->rigidBody = NULL;
}

SimpleRigidBody::State SimpleRigidBody::GetState() const
{
	return this->state;
}

SimpleRigidBody::State& SimpleRigidBody::GetState( SimpleRigidBody::State &targetMem ) const
{
	targetMem = this->state;
	return targetMem;
}

void SimpleRigidBody::SetState( const SimpleRigidBody::State &state )
{
	btTransform trans;
	btVector3 position(state.centerPos.x, state.centerPos.y, state.centerPos.z);
	btQuaternion quaternion(state.quaternion.imaginary.x, state.quaternion.imaginary.y, state.quaternion.imaginary.z, state.quaternion.real);
	this->motionState->getWorldTransform(trans);
	trans.setRotation(quaternion);
	trans.setOrigin(position);
	this->motionState->setWorldTransform(trans);
	this->rigidBody->setFriction(state.staticFrictionCoeff);
	this->rigidBody->setRestitution(state.restitutionCoeff);
	btVector3 fallInertia(0, 0, 0);
	collisionShape->calculateLocalInertia(state.mass, fallInertia);
	this->rigidBody->setMassProps(state.mass, fallInertia);

	this->state = state;
}

void SimpleRigidBody::ApplyImpulse(Float3 impulse)
{
	this->rigidBody->applyImpulse(btVector3(impulse.x, impulse.y, impulse.z), btVector3(0.0f, 0.0f, 0.0f));
}

void SimpleRigidBody::SetCollisionShape(btCollisionShape* shape)
{
	this->collisionShape = shape;
}

void SimpleRigidBody::SetMotionState(btDefaultMotionState* motionState)
{
	this->motionState = motionState;
}

void SimpleRigidBody::SetRigidBody(btRigidBody* rigidBody)
{
	this->rigidBody = rigidBody;
	
}

void SimpleRigidBody::SetSubscription(EventAction_AfterCollisionResponse function)
{
	this->afterCollision = function;
}

void SimpleRigidBody::SetSubscription(EventAction_Move function)
{
	this->onMovement = function;
}

void SimpleRigidBody::SetLinearVelocity(Float3 velocity)
{
	this->rigidBody->setLinearVelocity(btVector3(velocity.x, velocity.y, velocity.z));
}

void SimpleRigidBody::SetPosition(::Oyster::Math::Float3 position)
{
	btTransform trans;
	this->motionState->getWorldTransform(trans);
	trans.setOrigin(btVector3(position.x, position.y, position.z));
	this->motionState->setWorldTransform(trans);
	this->state.centerPos = position;
}

void SimpleRigidBody::SetRotation(Float4 quaternion)
{
	btTransform trans;
	this->motionState->getWorldTransform(trans);
	trans.setRotation(btQuaternion(quaternion.x, quaternion.y, quaternion.z, quaternion.w));
	this->motionState->setWorldTransform(trans);
	this->state.quaternion = Quaternion(quaternion.xyz, quaternion.w);
}

void SimpleRigidBody::SetRotation(::Oyster::Math::Quaternion quaternion)
{
	btTransform trans;
	this->motionState->getWorldTransform(trans);
	trans.setRotation(btQuaternion(quaternion.imaginary.x, quaternion.imaginary.y, quaternion.imaginary.z, quaternion.real));
	this->motionState->setWorldTransform(trans);
	this->state.quaternion = quaternion;
}

void SimpleRigidBody::SetRotation(Float3 eulerAngles)
{
	btTransform trans;
	this->motionState->getWorldTransform(trans);
	trans.setRotation(btQuaternion(eulerAngles.x, eulerAngles.y, eulerAngles.z));
	this->motionState->setWorldTransform(trans);
	this->state.quaternion = Quaternion(Float3(trans.getRotation().x(), trans.getRotation().y(), trans.getRotation().z()), trans.getRotation().w());
}

void SimpleRigidBody::SetAngularFactor(Float factor)
{
	this->rigidBody->setAngularFactor(factor);
}

void SimpleRigidBody::SetGravity(Float3 gravity)
{
	this->rigidBody->setGravity(btVector3(gravity.x, gravity.y, gravity.z));
	this->gravity = gravity;
}

void SimpleRigidBody::SetUpAndRight(::Oyster::Math::Float3 up, ::Oyster::Math::Float3 right)
{
	btTransform trans;
	btMatrix3x3 rotation;
	btVector3 upVector(up.x, up.y, up.z);
	btVector3 rightVector(right.x, right.y, right.z);
	rotation[1] = upVector.normalized();
	rotation[0] = rightVector.normalized();
	rotation[2] = rightVector.cross(upVector).normalized();

	trans = this->rigidBody->getWorldTransform();
	trans.setBasis(rotation);
	this->rigidBody->setWorldTransform(trans);

	btQuaternion quaternion;
	quaternion = trans.getRotation();
	this->state.quaternion = Quaternion(Float3(quaternion.x(), quaternion.y(), quaternion.z()), quaternion.w());
}

void SimpleRigidBody::SetUpAndForward(::Oyster::Math::Float3 up, ::Oyster::Math::Float3 forward)
{
	btTransform trans;
	btMatrix3x3 rotation;
	btVector3 upVector(up.x, up.y, up.z);
	btVector3 forwardVector(forward.x, forward.y, forward.z);
	rotation[1] = upVector.normalized();
	rotation[2] = forwardVector.normalized();
	rotation[0] = forwardVector.cross(upVector).normalized();
	trans = this->rigidBody->getWorldTransform();
	trans.setBasis(rotation);
	this->rigidBody->setWorldTransform(trans);

	btQuaternion quaternion;
	quaternion = trans.getRotation();
	this->state.quaternion = Quaternion(Float3(quaternion.x(), quaternion.y(), quaternion.z()), quaternion.w());
}

Float4x4 SimpleRigidBody::GetRotation() const
{
	return this->state.GetRotation();
}
Float4 SimpleRigidBody::GetRotationAsAngularAxis()
{
	Float4 axis = Float4::null;
	Float s = sqrtf(1 - this->state.quaternion.real*this->state.quaternion.real);

	axis.w = 2*acos(this->state.quaternion.real*this->state.quaternion.real);

	if(1 - this->state.quaternion.real > 0.001f)
	{
		axis.x = this->state.quaternion.imaginary.x/s;
		axis.y = this->state.quaternion.imaginary.y/s;
		axis.z = this->state.quaternion.imaginary.z/s;
	}
	else
	{
		axis.x = this->state.quaternion.imaginary.x;
		axis.y = this->state.quaternion.imaginary.y;
		axis.z = this->state.quaternion.imaginary.z;
	}

	return axis;
}

Float4x4 SimpleRigidBody::GetOrientation() const
{
	return this->state.GetOrientation();
}

Float4x4 SimpleRigidBody::GetView() const
{
	return this->state.GetView();
}

Float4x4 SimpleRigidBody::GetView( const ::Oyster::Math::Float3 &offset ) const
{
	return this->state.GetView(offset);
}

void SimpleRigidBody::CallSubscription_AfterCollisionResponse(ICustomBody* bodyA, ICustomBody* bodyB, Oyster::Math::Float kineticEnergyLoss)
{
	if(this->afterCollision)
		this->afterCollision(bodyA, bodyB, kineticEnergyLoss);
}

void SimpleRigidBody::CallSubscription_Move()
{
	if(this->onMovement)
		this->onMovement(this);
}

btCollisionShape* SimpleRigidBody::GetCollisionShape() const
{
	return this->collisionShape;
}

btDefaultMotionState* SimpleRigidBody::GetMotionState() const
{
	return this->motionState;
}

btRigidBody* SimpleRigidBody::GetRigidBody() const
{
	return this->rigidBody;
}

void * SimpleRigidBody::GetCustomTag() const
{
	return this->customTag;
}


void SimpleRigidBody::SetCustomTag( void *ref )
{
	this->customTag = ref;
}