Danbias/Code/GamePhysics/Implementation/SphericalRigidBody.cpp

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#include "SphericalRigidBody.h"
#include "PhysicsAPI_Impl.h"
using namespace ::Oyster::Physics;
using namespace ::Oyster::Math3D;
using namespace ::Oyster::Collision3D;
using namespace ::Utility::DynamicMemory;
using namespace ::Utility::Value;
SphericalRigidBody::SphericalRigidBody()
: previous(), current( Box(Float4x4::identity, Float3::null, Float3(1.0f)) ),
gravityNormal( 0.0f ),
subscribeCollision( true ),
ignoreGravity( false ),
body( Float3::null, 0.5f ) {}
SphericalRigidBody::~SphericalRigidBody() {}
UniquePointer<ICustomBody> SphericalRigidBody::Clone() const
{
return new SphericalRigidBody( *this );
}
bool SphericalRigidBody::IsSubscribingCollisions() const
{ // Assumption
return this->subscribeCollision;
}
bool SphericalRigidBody::IsAffectedByGravity() const
{
return !this->ignoreGravity;
}
bool SphericalRigidBody::Intersects( const ICustomBody &object, Float timeStepLength, Float &deltaWhen, Float3 &worldPointOfContact ) const
{
if( object.Intersects(this->body) )
{ //! @todo TODO: better implementation needed
deltaWhen = timeStepLength;
worldPointOfContact = Average( this->body.center, object.GetCenter() );
return true;
}
else
{
return false;
}
}
bool SphericalRigidBody::Intersects( const ICollideable &shape ) const
{
return this->current.box.Intersects( shape );
}
Sphere & SphericalRigidBody::GetBoundingSphere( Sphere &targetMem ) const
{
return targetMem = this->body;
}
Float3 & SphericalRigidBody::GetNormalAt( const Float3 &worldPos, Float3 &targetMem ) const
{
//! @todo TODO: better implementation needed
return targetMem = (worldPos - this->current.box.center).GetNormalized();
}
Float3 & SphericalRigidBody::GetGravityNormal( Float3 &targetMem ) const
{
return targetMem = this->gravityNormal;
}
Float3 & SphericalRigidBody::GetCenter( Float3 &targetMem ) const
{
return targetMem = this->current.box.center;
}
Float4x4 & SphericalRigidBody::GetRotation( Float4x4 &targetMem ) const
{
return targetMem = this->current.box.rotation;
}
Float4x4 & SphericalRigidBody::GetOrientation( Float4x4 &targetMem ) const
{
return targetMem = this->current.GetOrientation();
}
Float4x4 & SphericalRigidBody::GetView( Float4x4 &targetMem ) const
{
return targetMem = this->current.GetView();
}
UpdateState SphericalRigidBody::Update( Float timeStepLength )
{
this->previous = this->current; // memorizing the old state
this->current.Update_LeapFrog( timeStepLength );
this->body.center = this->current.GetCenter();
// compare previous and new state and return result
return this->current == this->previous ? resting : altered;
}
void SphericalRigidBody::SetGravity( bool ignore)
{
this->ignoreGravity = ignore;
this->gravityNormal = Float3::null;
}
void SphericalRigidBody::SetGravityNormal( const Float3 &normalizedVector )
{
this->gravityNormal = normalizedVector;
}
void SphericalRigidBody::SetSubscription( bool subscribeCollision )
{
this->subscribeCollision = subscribeCollision;
}
void SphericalRigidBody::SetMomentOfInertiaTensor_KeepVelocity( const Float4x4 &localI )
{
this->current.SetMomentOfInertia_KeepVelocity( localI );
}
void SphericalRigidBody::SetMomentOfInertiaTensor_KeepMomentum( const Float4x4 &localI )
{
this->current.SetMomentOfInertia_KeepMomentum( localI );
}
void SphericalRigidBody::SetMass_KeepVelocity( Float m )
{
this->current.SetMass_KeepVelocity( m );
}
void SphericalRigidBody::SetMass_KeepMomentum( Float m )
{
this->current.SetMass_KeepMomentum( m );
}
void SphericalRigidBody::SetCenter( const Float3 &worldPos )
{
this->current.SetCenter( worldPos );
this->body.center = worldPos;
}
void SphericalRigidBody::SetRotation( const Float4x4 &rotation )
{
this->current.SetRotation( rotation );
}
void SphericalRigidBody::SetOrientation( const Float4x4 &orientation )
{
this->current.SetOrientation( orientation );
this->body.center = orientation.v[3].xyz;
}
void SphericalRigidBody::SetSize( const Float3 &size )
{
this->current.SetSize( size );
this->body.radius = 0.5f * Min( Min( size.x, size.y ), size.z ); // inline Min( FloatN )?
}