Danbias/Code/Physics/GamePhysics/Implementation/SimpleRigidBody.cpp

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#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()
{
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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);
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this->afterCollision = NULL;
this->onMovement = NULL;
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this->customTag = nullptr;
}
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SimpleRigidBody::~SimpleRigidBody()
{
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delete this->motionState;
this->motionState = NULL;
delete this->collisionShape;
this->collisionShape = NULL;
delete this->rigidBody;
this->rigidBody = NULL;
}
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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;
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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);
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this->motionState->getWorldTransform(trans);
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trans.setRotation(quaternion);
trans.setOrigin(position);
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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;
}
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void SimpleRigidBody::ApplyImpulse(Float3 impulse)
{
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this->rigidBody->applyCentralImpulse(btVector3(impulse.x, impulse.y, impulse.z));
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}
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void SimpleRigidBody::SetCollisionShape(btCollisionShape* shape)
{
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this->collisionShape = shape;
}
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void SimpleRigidBody::SetMotionState(btDefaultMotionState* motionState)
{
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this->motionState = motionState;
}
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void SimpleRigidBody::SetRigidBody(btRigidBody* rigidBody)
{
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this->rigidBody = rigidBody;
}
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void SimpleRigidBody::SetSubscription(EventAction_AfterCollisionResponse function)
{
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this->afterCollision = function;
}
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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;
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trans = this->rigidBody->getWorldTransform();
trans.setOrigin(btVector3(position.x, position.y, position.z));
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this->rigidBody->setWorldTransform(trans);
this->state.centerPos = position;
}
void SimpleRigidBody::SetRotation(Float4 quaternion)
{
btTransform trans;
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trans = this->rigidBody->getWorldTransform();
trans.setRotation(btQuaternion(quaternion.x, quaternion.y, quaternion.z, quaternion.w));
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this->rigidBody->setWorldTransform(trans);
this->state.quaternion = Quaternion(quaternion.xyz, quaternion.w);
}
void SimpleRigidBody::SetRotation(::Oyster::Math::Quaternion quaternion)
{
btTransform trans;
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trans = this->rigidBody->getWorldTransform();
trans.setRotation(btQuaternion(quaternion.imaginary.x, quaternion.imaginary.y, quaternion.imaginary.z, quaternion.real));
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this->rigidBody->setWorldTransform(trans);
this->state.quaternion = quaternion;
}
void SimpleRigidBody::SetRotation(Float3 eulerAngles)
{
btTransform trans;
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trans = this->rigidBody->getWorldTransform();
trans.setRotation(btQuaternion(eulerAngles.x, eulerAngles.y, eulerAngles.z));
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this->rigidBody->setWorldTransform(trans);
this->state.quaternion = Quaternion(Float3(trans.getRotation().x(), trans.getRotation().y(), trans.getRotation().z()), trans.getRotation().w());
}
void SimpleRigidBody::SetRotation(::Oyster::Math::Float4x4 rotation)
{
btTransform trans;
btMatrix3x3 newRotation;
btVector3 rightVector(rotation.v[0].x, rotation.v[0].y, rotation.v[0].z);
btVector3 upVector(rotation.v[1].x, rotation.v[1].y, rotation.v[1].z);
btVector3 forwardVector(rotation.v[2].x, rotation.v[2].y, rotation.v[2].z);
newRotation[0] = rightVector;
newRotation[1] = upVector;
newRotation[2] = forwardVector;
trans = this->rigidBody->getWorldTransform();
trans.setBasis(newRotation);
this->rigidBody->setWorldTransform(trans);
btQuaternion quaternion;
quaternion = trans.getRotation();
this->state.quaternion = Quaternion(Float3(quaternion.x(), quaternion.y(), quaternion.z()), quaternion.w());
}
void SimpleRigidBody::SetRotationAsAngularAxis(::Oyster::Math::Float4 angularAxis)
{
if(angularAxis.xyz.GetMagnitude() == 0)
{
return;
}
float s = sin(angularAxis.w/2);
float x = angularAxis.x * s;
float y = angularAxis.y * s;
float z = angularAxis.z * s;
float w = cos(angularAxis.w/2);
btTransform trans;
btVector3 vector(angularAxis.x, angularAxis.y, angularAxis.z);
btQuaternion quaternion(x,y,z,w);
trans = this->rigidBody->getWorldTransform();
trans.setRotation(quaternion);
this->rigidBody->setWorldTransform(trans);
this->state.quaternion = Quaternion(Float3(quaternion.x(), quaternion.y(), quaternion.z()), quaternion.w());
}
void SimpleRigidBody::SetAngularFactor(Float factor)
{
this->rigidBody->setAngularFactor(factor);
}
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void SimpleRigidBody::SetMass(Float mass)
{
btVector3 fallInertia(0, 0, 0);
collisionShape->calculateLocalInertia(mass, fallInertia);
this->rigidBody->setMassProps(mass, fallInertia);
this->state.mass = mass;
}
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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)
{
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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();
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rotation[2] = rightVector.cross(upVector).normalized();
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trans = this->rigidBody->getWorldTransform();
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trans.setBasis(rotation);
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this->rigidBody->setWorldTransform(trans);
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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)
{
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btTransform trans;
btMatrix3x3 rotation;
btVector3 upVector(up.x, up.y, up.z);
btVector3 forwardVector(forward.x, forward.y, forward.z);
rotation[1] = upVector.normalized();
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rotation[2] = forwardVector.normalized();
rotation[0] = upVector.cross(forwardVector).normalized();
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trans = this->rigidBody->getWorldTransform();
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trans.setBasis(rotation);
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this->rigidBody->setWorldTransform(trans);
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btQuaternion quaternion;
quaternion = trans.getRotation();
this->state.quaternion = Quaternion(Float3(quaternion.x(), quaternion.y(), quaternion.z()), quaternion.w());
}
void SimpleRigidBody::SetUp(::Oyster::Math::Float3 up)
{
Float3 vector = Float3(0, 1, 0).Cross(up);
if(vector == Float3::null)
{
return;
}
Float sine = vector.GetLength();
Float cosine = acos(Float3(0, 1, 0).Dot(up));
btQuaternion quaternion(btVector3(vector.x, vector.y, vector.z),cosine);
btTransform trans;
trans = this->rigidBody->getWorldTransform();
trans.setRotation(quaternion);
this->rigidBody->setWorldTransform(trans);
this->state.quaternion = Quaternion(Float3(quaternion.x(), quaternion.y(), quaternion.z()), quaternion.w());
}
Float4x4 SimpleRigidBody::GetRotation() const
{
return this->state.GetRotation();
}
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Float4 SimpleRigidBody::GetRotationAsAngularAxis()
{
Float4 axis = Float4::null;
btTransform trans;
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trans = this->rigidBody->getWorldTransform();
axis.xyz = trans.getRotation().getAxis();
axis.w = trans.getRotation().getAngle();
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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);
}
Float3 SimpleRigidBody::GetGravity() const
{
btVector3 gravity = this->rigidBody->getGravity();
return Float3(gravity.x(), gravity.y(), gravity.z());
}
Float3 SimpleRigidBody::GetLinearVelocity() const
{
btVector3 linearVelocity = this->rigidBody->getLinearVelocity();
return Float3(linearVelocity.x(), linearVelocity.y(), linearVelocity.z());
}
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void SimpleRigidBody::CallSubscription_AfterCollisionResponse(ICustomBody* bodyA, ICustomBody* bodyB, Oyster::Math::Float kineticEnergyLoss)
{
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if(this->afterCollision)
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this->afterCollision(bodyA, bodyB, kineticEnergyLoss);
}
void SimpleRigidBody::CallSubscription_Move()
{
if(this->onMovement)
this->onMovement(this);
}
btCollisionShape* SimpleRigidBody::GetCollisionShape() const
{
return this->collisionShape;
}
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btDefaultMotionState* SimpleRigidBody::GetMotionState() const
{
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return this->motionState;
}
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btRigidBody* SimpleRigidBody::GetRigidBody() const
{
return this->rigidBody;
}
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void * SimpleRigidBody::GetCustomTag() const
{
return this->customTag;
}
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void SimpleRigidBody::SetCustomTag( void *ref )
{
this->customTag = ref;
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}
void SimpleRigidBody::PreStep (const btCollisionWorld* collisionWorld)
{
btTransform xform;
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xform = this->rigidBody->getWorldTransform ();
Float3 normalDown = -this->state.centerPos.GetNormalized();
btVector3 down(normalDown.x, normalDown.y, normalDown.z);
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btVector3 forward = xform.getBasis()[2];
down.normalize ();
forward.normalize();
this->raySource[0] = xform.getOrigin();
this->raySource[1] = xform.getOrigin();
if(this->state.reach.y < 1.0f)
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Float angle = acos(Float3(0, 1, 0).Dot(this->state.centerPos.GetNormalized()));
//down.setZ(-down.z());
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btVector3 targetPlus = down * this->state.reach.y * btScalar(1.1);
if(this->state.mass == 40)
{
const char* breakpoint = "STOP";
}
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this->rayTarget[0] = this->raySource[0] + targetPlus;
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this->rayTarget[1] = this->raySource[1] + forward * this->state.reach.y * btScalar(1.1);
class ClosestNotMe : public btCollisionWorld::ClosestRayResultCallback
{
public:
ClosestNotMe (btRigidBody* me) : btCollisionWorld::ClosestRayResultCallback(btVector3(0.0, 0.0, 0.0), btVector3(0.0, 0.0, 0.0))
{
m_me = me;
}
virtual btScalar addSingleResult(btCollisionWorld::LocalRayResult& rayResult,bool normalInWorldSpace)
{
if (rayResult.m_collisionObject == m_me)
return 1.0;
return ClosestRayResultCallback::addSingleResult (rayResult, normalInWorldSpace);
}
protected:
btRigidBody* m_me;
};
ClosestNotMe rayCallback(this->rigidBody);
int i = 0;
for (i = 0; i < 2; i++)
{
rayCallback.m_closestHitFraction = 1.0;
if((this->raySource[i] - this->rayTarget[i]).length() != 0)
collisionWorld->rayTest (this->raySource[i], this->rayTarget[i], rayCallback);
if (rayCallback.hasHit())
{
this->rayLambda[i] = rayCallback.m_closestHitFraction;
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}
else
{
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this->rayLambda[i] = 1.0;
}
}
}
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float SimpleRigidBody::GetLambda() const
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{
return this->rayLambda[0];
}
void SimpleRigidBody::MoveToLimbo()
{
this->rigidBody->setCollisionFlags(this->rigidBody->getCollisionFlags() | btCollisionObject::CF_NO_CONTACT_RESPONSE);
}
void SimpleRigidBody::ReleaseFromLimbo()
{
this->rigidBody->setCollisionFlags(btCollisionObject::CF_KINEMATIC_OBJECT);
}