Danbias/Code/OysterPhysics3D/RigidBody.cpp

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/////////////////////////////////////////////////////////////////////
// Created by Dan Andersson & Robin Engman 2013
/////////////////////////////////////////////////////////////////////
#include "RigidBody.h"
#include "Utilities.h"
using namespace ::Oyster::Collision3D;
using namespace ::Oyster::Physics3D;
using namespace ::Oyster::Math3D;
RigidBody::RigidBody( const Box &b, Float m )
: box(b), angularMomentum(0.0f), linearMomentum(0.0f), impulseTorqueSum(0.0f), impulseForceSum(0.0f)
{ // by Dan Andersson
if( m != 0.0f )
{
this->mass = m;
}
else
{
this->mass = ::Utility::Value::numeric_limits<Float>::epsilon();
}
this->momentOfInertiaTensor = Float4x4::identity;
}
RigidBody & RigidBody::operator = ( const RigidBody &body )
{ // by Dan Andersson
this->box = body.box;
this->angularMomentum = body.angularMomentum;
this->linearMomentum = body.linearMomentum;
this->impulseTorqueSum = body.impulseTorqueSum;
this->impulseForceSum = body.impulseForceSum;
this->mass = body.mass;
this->momentOfInertiaTensor = body.momentOfInertiaTensor;
return *this;
}
bool RigidBody::operator == ( const RigidBody &body )
{
if( this->box.center != body.box.center )
{
return false;
}
if( this->box.rotation != body.box.rotation )
{
return false;
}
if( this->box.boundingOffset != body.box.boundingOffset )
{
return false;
}
if( this->angularMomentum != body.angularMomentum )
{
return false;
}
if( this->linearMomentum != body.linearMomentum )
{
return false;
}
if( this->impulseTorqueSum != body.impulseTorqueSum )
{
return false;
}
if( this->impulseForceSum != body.impulseForceSum )
{
return false;
}
return true;
}
bool RigidBody::operator != ( const RigidBody &body )
{
return !this->operator==( body );
}
void RigidBody::Update_LeapFrog( Float deltaTime )
{ // by Dan Andersson: Euler leap frog update when Runga Kutta is not needed
// Important! The member data is all world data except the Inertia tensor. Thus a new InertiaTensor needs to be created to be compatible with the rest of the world data.
Float4x4 wMomentOfInertiaTensor = TransformMatrix( this->box.rotation, this->momentOfInertiaTensor ); // RI
// updating the linear
// dG = F * dt
// ds = dt * Formula::LinearVelocity( m, avg_G ) = dt * avg_G / m = (dt / m) * avg_G
Float3 linearImpulse = this->impulseForceSum * deltaTime; // aka deltaLinearMomentum
Float3 deltaPos = ( deltaTime / this->mass ) * ::Utility::Value::AverageWithDelta( this->linearMomentum, linearImpulse );
// updating the angular
// dH = T * dt
// dO = dt * Formula::AngularVelocity( (RI)^-1, avg_H ) = dt * (RI)^-1 * avg_H
Float3 angularImpulse = this->impulseTorqueSum * deltaTime; // aka deltaAngularMomentum
Float3 rotationAxis = Formula::AngularVelocity( wMomentOfInertiaTensor.GetInverse(),
::Utility::Value::AverageWithDelta(this->angularMomentum, angularImpulse) );
Float deltaRadian = rotationAxis.Dot( rotationAxis );
if( deltaRadian != 0.0f )
{ // branch depending if there is rotation
deltaRadian = ::std::sqrt( deltaRadian );
rotationAxis /= deltaRadian;
// using rotationAxis, deltaRadian and deltaPos to create a matrix to update the box
this->box.center += deltaPos;
TransformMatrix( RotationMatrix(deltaRadian, rotationAxis), this->box.rotation, this->box.rotation );
}
else
{ // no rotation, only use deltaPos to translate the RigidBody
this->box.center += deltaPos;
}
// update momentums and clear impulseForceSum and impulseTorqueSum
this->linearMomentum += linearImpulse;
this->impulseForceSum = Float3::null;
this->angularMomentum += angularImpulse;
this->impulseTorqueSum = Float3::null;
}
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void RigidBody::ApplyImpulseForce( const Float3 &worldF )
{ // by Dan Andersson
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this->impulseForceSum += worldF;
}
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void RigidBody::ApplyImpulseForceAt( const Float3 &worldF, const Float3 &worldPos )
{ // by Dan Andersson
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Float3 worldOffset = worldPos - this->box.center;
if( worldOffset != Float3::null )
{
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this->impulseForceSum += VectorProjection( worldF, worldOffset );
this->impulseTorqueSum += Formula::ImpulseTorque( worldF, worldOffset );
}
else
{
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this->impulseForceSum += worldF;
}
}
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void RigidBody::ApplyLinearImpulseAcceleration( const Float3 &worldA )
{ // by Dan Andersson
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this->impulseForceSum += Formula::ImpulseForce( this->mass, worldA );
}
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void RigidBody::ApplyLinearImpulseAccelerationAt( const Float3 &worldA, const Float3 &worldPos )
{ // by Dan Andersson
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Float3 worldOffset = worldPos - this->box.center;
if( worldOffset != Float3::null )
{
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this->impulseForceSum += Formula::ImpulseForce( this->mass, VectorProjection(worldA, worldOffset) );
// tanAcc = angularAcc x localPosition
// angularAcc = localPosition x tanAcc = localPosition x linearAcc
// T = I * angularAcc
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this->impulseTorqueSum += Formula::ImpulseTorque( this->momentOfInertiaTensor, Formula::AngularImpulseAcceleration(worldA, worldOffset) );
}
else
{
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this->impulseForceSum += Formula::ImpulseForce( this->mass, worldA );
}
}
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void RigidBody::ApplyImpulseTorque( const Float3 &worldT )
{ // by Dan Andersson
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this->impulseTorqueSum += worldT;
}
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void RigidBody::ApplyAngularImpulseAcceleration( const Float3 &worldA )
{ // by Dan Andersson
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this->impulseTorqueSum += Formula::ImpulseTorque( this->momentOfInertiaTensor, worldA );
}
Float3 & RigidBody::AccessBoundingReach()
{ // by Dan Andersson
return this->box.boundingOffset;
}
const Float3 & RigidBody::AccessBoundingReach() const
{ // by Dan Andersson
return this->box.boundingOffset;
}
Float3 & RigidBody::AccessCenter()
{ // by Dan Andersson
return this->box.center;
}
const Float3 & RigidBody::AccessCenter() const
{ // by Dan Andersson
return this->box.center;
}
const Float4x4 & RigidBody::GetMomentOfInertia() const
{ // by Dan Andersson
return this->momentOfInertiaTensor;
}
const Float & RigidBody::GetMass() const
{ // by Dan Andersson
return this->mass;
}
const Float4x4 RigidBody::GetOrientation() const
{ // by Dan Andersson
return OrientationMatrix( this->box.rotation, this->box.center );
}
Float4x4 RigidBody::GetView() const
{ // by Dan Andersson
return InverseOrientationMatrix( this->GetOrientation() );
}
const Float3 & RigidBody::GetBoundingReach() const
{ // by Dan Andersson
return this->box.boundingOffset;
}
Float3 RigidBody::GetSize() const
{ // by Dan Andersson
return 2.0f * this->box.boundingOffset;
}
const Float3 & RigidBody::GetCenter() const
{ // by Dan Andersson
return this->box.center;
}
const Float3 & RigidBody::GetImpulsTorque() const
{ // by Dan Andersson
return this->impulseTorqueSum;
}
const Float3 & RigidBody::GetAngularMomentum() const
{ // by Dan Andersson
return this->angularMomentum;
}
Float3 RigidBody::GetAngularImpulseAcceleration() const
{ // by Dan Andersson
return Formula::AngularImpulseAcceleration( this->momentOfInertiaTensor.GetInverse(), this->impulseTorqueSum );
}
Float3 RigidBody::GetAngularVelocity() const
{ // by Dan Andersson
return Formula::AngularVelocity( this->momentOfInertiaTensor.GetInverse(), this->angularMomentum );
}
const Float3 & RigidBody::GetImpulseForce() const
{ // by Dan Andersson
return this->impulseForceSum;
}
const Float3 & RigidBody::GetLinearMomentum() const
{ // by Dan Andersson
return this->linearMomentum;
}
Float3 RigidBody::GetLinearImpulseAcceleration() const
{ // by Dan Andersson
return Formula::LinearImpulseAcceleration( this->mass, this->impulseForceSum );
}
Float3 RigidBody::GetLinearVelocity() const
{ // by Dan Andersson
return Formula::LinearVelocity( this->mass, this->linearMomentum );
}
void RigidBody::GetMomentumAt( const Float3 &worldPos, const Float3 &surfaceNormal, Float3 &normalMomentum, Float3 &tangentialMomentum ) const
{ // by Dan Andersson
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Float3 worldOffset = worldPos - this->box.center;
Float3 momentum = Formula::TangentialLinearMomentum( this->angularMomentum, worldOffset );
momentum += this->linearMomentum;
normalMomentum = NormalProjection( momentum, surfaceNormal );
tangentialMomentum = momentum - normalMomentum;
}
void RigidBody::SetMomentOfInertia_KeepVelocity( const ::Oyster::Math::Float4x4 &localI )
{ // by Dan Andersson
if( localI.GetDeterminant() != 0.0f ) // insanitycheck! momentOfInertiaTensor must be invertable
{
Float3 w = Formula::AngularVelocity( (this->box.rotation * this->momentOfInertiaTensor).GetInverse(),
this->angularMomentum );
this->momentOfInertiaTensor = localI;
this->angularMomentum = Formula::AngularMomentum( this->box.rotation*localI, w );
}
}
void RigidBody::SetMomentOfInertia_KeepMomentum( const Float4x4 &localI )
{ // by Dan Andersson
if( localI.GetDeterminant() != 0.0f ) // insanitycheck! momentOfInertiaTensor must be invertable
{
this->momentOfInertiaTensor = localI;
}
}
void RigidBody::SetMass_KeepVelocity( const Float &m )
{ // by Dan Andersson
if( m != 0.0f ) // insanitycheck! mass must be invertable
{
Float3 v = Formula::LinearVelocity( this->mass, this->linearMomentum );
this->mass = m;
this->linearMomentum = Formula::LinearMomentum( this->mass, v );
}
}
void RigidBody::SetMass_KeepMomentum( const Float &m )
{ // by Dan Anderson
if( m != 0.0f ) // insanitycheck! mass must be invertable
{
this->mass = m;
}
}
void RigidBody::SetOrientation( const Float4x4 &o )
{ // by Dan Andersson
ExtractRotationMatrix( o, this->box.rotation );
this->box.center = o.v[3].xyz;
}
void RigidBody::SetSize( const Float3 &widthHeight )
{ // by Dan Andersson
this->box.boundingOffset = 0.5f * widthHeight;
}
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void RigidBody::SetCenter( const Float3 &worldPos )
{ // by Dan Andersson
this->box.center = worldPos;
}
void RigidBody::SetRotation( const Float4x4 &r )
{ // by Dan Andersson
this->box.rotation = r;
}
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void RigidBody::SetImpulseTorque( const Float3 &worldT )
{ // by Dan Andersson
this->impulseTorqueSum = worldT;
}
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void RigidBody::SetAngularMomentum( const Float3 &worldH )
{ // by Dan Andersson
this->angularMomentum = worldH;
}
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void RigidBody::SetAngularImpulseAcceleration( const Float3 &worldA )
{ // by Dan Andersson
this->impulseTorqueSum = Formula::ImpulseTorque( this->momentOfInertiaTensor, worldA );
}
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void RigidBody::SetAngularVelocity( const Float3 &worldW )
{ // by Dan Andersson
this->angularMomentum = Formula::AngularMomentum( this->momentOfInertiaTensor, worldW );
}
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void RigidBody::SetImpulseForce( const Float3 &worldF )
{ // by Dan Andersson
this->impulseForceSum = worldF;
}
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void RigidBody::SetLinearMomentum( const Float3 &worldG )
{ // by Dan Andersson
this->linearMomentum = worldG;
}
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void RigidBody::SetLinearImpulseAcceleration( const Float3 &worldA )
{ // by Dan Andersson
this->impulseForceSum = Formula::ImpulseForce( this->mass, worldA );
}
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void RigidBody::SetLinearVelocity( const Float3 &worldV )
{ // by Dan Andersson
this->linearMomentum = Formula::LinearMomentum( this->mass, worldV );
}
void RigidBody::SetImpulseForceAt( const Float3 &worldForce, const Float3 &worldPos )
{ // by Dan Andersson
Float3 worldOffset = worldPos - this->box.center;
this->impulseForceSum = VectorProjection( worldForce, worldOffset );
this->impulseTorqueSum = Formula::ImpulseTorque( worldForce, worldOffset );
}
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void RigidBody::SetLinearMomentumAt( const Float3 &worldG, const Float3 &worldPos )
{ // by Dan Andersson
Float3 worldOffset = worldPos - this->box.center;
this->linearMomentum = VectorProjection( worldG, worldOffset );
this->angularMomentum = Formula::AngularMomentum( worldG, worldOffset );
}
void RigidBody::SetImpulseAccelerationAt( const Float3 &worldA, const Float3 &worldPos )
{ // by Dan Andersson
Float3 worldOffset = worldPos - this->box.center;
this->impulseForceSum = Formula::ImpulseForce( this->mass, VectorProjection(worldA, worldOffset) );
this->impulseTorqueSum = Formula::ImpulseTorque( this->box.rotation * this->momentOfInertiaTensor,
Formula::AngularImpulseAcceleration(worldA, worldOffset) );
}
void RigidBody::SetLinearVelocityAt( const Float3 &worldV, const Float3 &worldPos )
{ // by Dan Andersson
Float3 worldOffset = worldPos - this->box.center;
this->linearMomentum = Formula::LinearMomentum( this->mass, VectorProjection(worldV, worldOffset) );
this->angularMomentum = Formula::AngularMomentum( this->box.rotation * this->momentOfInertiaTensor,
Formula::AngularVelocity(worldV, worldOffset) );
}