Danbias/Code/GamePhysics/Implementation/SphericalRigidBody.cpp

#include "SphericalRigidBody.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;

SphericalRigidBody::SphericalRigidBody()
{
	this->rigid = RigidBody( Box(Float4x4::identity, Float3::null, Float3(1.0f)), 10.0f, Float4x4::identity );
	this->gravityNormal = Float3::null;
	this->collisionAction = Default::EventAction_Collision;
	this->ignoreGravity = false;
	this->scene = nullptr;
	this->body = Sphere( Float3::null, 0.5f );
}

SphericalRigidBody::SphericalRigidBody( const API::SphericalBodyDescription &desc )
{
	this->rigid = RigidBody( Box( desc.rotation, desc.centerPosition.xyz, Float3(2.0f * desc.radius) ),
							 desc.mass,
							 Formula::MomentOfInertia::CreateSphereMatrix( desc.mass, desc.radius ) );
	this->gravityNormal = Float3::null;

	if( desc.subscription )
	{
		this->collisionAction = desc.subscription;
	}
	else
	{
		this->collisionAction = Default::EventAction_Collision;
	}

	this->ignoreGravity = desc.ignoreGravity;
	this->scene = nullptr;
	this->body = Sphere( desc.centerPosition, desc.radius );
}

SphericalRigidBody::~SphericalRigidBody() {}

UniquePointer<ICustomBody> SphericalRigidBody::Clone() const	
{
	return new SphericalRigidBody( *this );
}

SphericalRigidBody::State SphericalRigidBody::GetState() const
{
	return State( this->rigid.GetMass(), this->rigid.restitutionCoeff,
				  this->rigid.frictionCoeff_Static, this->rigid.frictionCoeff_Kinetic,
				  this->rigid.GetMomentOfInertia(), this->rigid.box.boundingOffset,
				  this->rigid.box.center, AngularAxis(this->rigid.box.rotation),
				  Float4(this->rigid.linearMomentum, 0.0f), Float4(this->rigid.angularMomentum, 0.0f) );
}

SphericalRigidBody::State & SphericalRigidBody::GetState( SphericalRigidBody::State &targetMem ) const
{
	return targetMem = State( this->rigid.GetMass(), this->rigid.restitutionCoeff,
							  this->rigid.frictionCoeff_Static, this->rigid.frictionCoeff_Kinetic,
							  this->rigid.GetMomentOfInertia(), this->rigid.box.boundingOffset,
							  this->rigid.box.center, AngularAxis(this->rigid.box.rotation),
							  Float4(this->rigid.linearMomentum, 0.0f), Float4(this->rigid.angularMomentum, 0.0f) );
}

void SphericalRigidBody::SetState( const SphericalRigidBody::State &state )
{
	this->rigid.box.boundingOffset = state.GetReach();
	this->rigid.box.center = state.GetCenterPosition();
	this->rigid.box.rotation = state.GetRotation();
	this->rigid.angularMomentum = state.GetAngularMomentum().xyz;
	this->rigid.linearMomentum = state.GetLinearMomentum().xyz;
	this->rigid.impulseTorqueSum += state.GetAngularImpulse().xyz;
	this->rigid.impulseForceSum += state.GetLinearImpulse().xyz;
	this->rigid.restitutionCoeff = state.GetRestitutionCoeff();
	this->rigid.frictionCoeff_Static = state.GetFrictionCoeff_Static();
	this->rigid.frictionCoeff_Kinetic = state.GetFrictionCoeff_Kinetic();

	if( this->scene )
	{
		if( state.IsSpatiallyAltered() )
		{
			unsigned int tempRef = this->scene->GetTemporaryReferenceOf( this );
			this->scene->SetAsAltered( tempRef );
			this->scene->EvaluatePosition( tempRef );
		}
		else if( state.IsDisturbed() )
		{
			this->scene->SetAsAltered( this->scene->GetTemporaryReferenceOf(this) );
		}
	}
}

ICustomBody::SubscriptMessage SphericalRigidBody::CallSubscription( const ICustomBody *proto, const ICustomBody *deuter )
{
	return this->collisionAction( proto, deuter );
}

bool SphericalRigidBody::IsAffectedByGravity() const
{
	return !this->ignoreGravity;
}

bool SphericalRigidBody::Intersects( const ICollideable &shape ) const
{
	return Sphere( this->rigid.box.center, this->rigid.box.boundingOffset.x ).Intersects( shape );
}

bool SphericalRigidBody::Intersects( const ICollideable &shape, Float4 &worldPointOfContact ) const
{
	return Sphere( this->rigid.box.center, this->rigid.box.boundingOffset.x ).Intersects( shape, worldPointOfContact );
}

bool SphericalRigidBody::Intersects( const ICustomBody &object, Float4 &worldPointOfContact ) const
{
	return object.Intersects( Sphere(this->rigid.box.center, this->rigid.box.boundingOffset.x), worldPointOfContact );
}

Sphere & SphericalRigidBody::GetBoundingSphere( Sphere &targetMem ) const
{
	return targetMem = this->body;
}

Float4 & SphericalRigidBody::GetNormalAt( const Float4 &worldPos, Float4 &targetMem ) const
{
	targetMem = worldPos - this->rigid.box.center;
	Float magnitude = targetMem.GetMagnitude();
	if( magnitude != 0.0f )
	{ // sanity check
		targetMem.Normalize();
	}
	return targetMem;
}

Float3 & SphericalRigidBody::GetGravityNormal( Float3 &targetMem ) const
{
	return targetMem = this->gravityNormal;	
}

//Float3 & SphericalRigidBody::GetCenter( Float3 &targetMem ) const
//{
//	return targetMem = this->rigid.box.center;
//}
//
//Float4x4 & SphericalRigidBody::GetRotation( Float4x4 &targetMem ) const
//{
//	return targetMem = this->rigid.box.rotation;
//}
//
//Float4x4 & SphericalRigidBody::GetOrientation( Float4x4 &targetMem ) const
//{
//	return targetMem = this->rigid.GetOrientation();
//}
//
//Float4x4 & SphericalRigidBody::GetView( Float4x4 &targetMem ) const
//{
//	return targetMem = this->rigid.GetView();
//}

Float3 SphericalRigidBody::GetRigidLinearVelocity() const
{
	return this->rigid.GetLinearVelocity();
}

UpdateState SphericalRigidBody::Update( Float timeStepLength )
{
	this->rigid.Update_LeapFrog( timeStepLength );
	this->body.center = this->rigid.GetCenter();

	// compare previous and new state and return result
	//return this->current == this->previous ? UpdateState_resting : UpdateState_altered;
	return UpdateState_altered;
}

void SphericalRigidBody::SetSubscription( ICustomBody::EventAction_Collision functionPointer )
{
	if( functionPointer )
	{
		this->collisionAction = functionPointer;
	}
	else
	{
		this->collisionAction = Default::EventAction_Collision;
	}
}

void SphericalRigidBody::SetScene( void *scene )
{
	this->scene = (Octree*)scene;
}

void SphericalRigidBody::SetGravity( bool ignore )
{
	this->ignoreGravity = ignore;
	this->gravityNormal = Float3::null;
}

void SphericalRigidBody::SetGravityNormal( const Float3 &normalizedVector )
{
	this->gravityNormal = normalizedVector;
}

//void SphericalRigidBody::SetMomentOfInertiaTensor_KeepVelocity( const Float4x4 &localI )
//{
//	this->rigid.SetMomentOfInertia_KeepVelocity( localI );
//}
//
//void SphericalRigidBody::SetMomentOfInertiaTensor_KeepMomentum( const Float4x4 &localI )
//{
//	this->rigid.SetMomentOfInertia_KeepMomentum( localI );
//}
//
//void SphericalRigidBody::SetMass_KeepVelocity( Float m )
//{
//	this->rigid.SetMass_KeepVelocity( m );
//}
//
//void SphericalRigidBody::SetMass_KeepMomentum( Float m )
//{
//	this->rigid.SetMass_KeepMomentum( m );
//}
//
//void SphericalRigidBody::SetCenter( const Float3 &worldPos )
//{
//	this->rigid.SetCenter( worldPos );
//	this->body.center = worldPos;
//}
//
//void SphericalRigidBody::SetRotation( const Float4x4 &rotation )
//{
//	this->rigid.SetRotation( rotation );
//}
//
//void SphericalRigidBody::SetOrientation( const Float4x4 &orientation )
//{
//	this->rigid.SetOrientation( orientation );
//	this->body.center = orientation.v[3].xyz;
//}
//
//void SphericalRigidBody::SetSize( const Float3 &size )
//{
//	this->rigid.SetSize( size );
//	this->body.radius = 0.5f * Min( Min( size.x, size.y ), size.z ); // inline Min( FloatN )?
//}
//
//void SphericalRigidBody::SetMomentum( const Float3 &worldG )
//{
//	this->rigid.SetLinearMomentum( worldG );
//}