Danbias/Code/GamePhysics/PhysicsStructs-Impl.h

#ifndef PHYSICS_STRUCTS_IMPL_H
#define PHYSICS_STRUCTS_IMPL_H

#include "PhysicsStructs.h"

namespace Oyster 
{ 
	namespace Physics
	{
		namespace Struct
		{
			inline SimpleBodyDescription::SimpleBodyDescription()
			{
				this->rotation = ::Oyster::Math::Float4x4::identity;
				this->centerPosition = ::Oyster::Math::Float4::standard_unit_w;
				this->size = ::Oyster::Math::Float4( 1.0f );
				this->mass = 12.0f;
				this->inertiaTensor = ::Oyster::Math::Float4x4::identity;
				this->subscription = NULL;
				this->ignoreGravity = false;
			}

			inline SphericalBodyDescription::SphericalBodyDescription()
			{
				this->rotation = ::Oyster::Math::Float4x4::identity;
				this->centerPosition = ::Oyster::Math::Float4::standard_unit_w;
				this->radius = 0.5f;
				this->mass = 10.0f;
				this->subscription = NULL;
				this->ignoreGravity = false;
			}

			inline CustomBodyState::CustomBodyState( ::Oyster::Math::Float mass, ::Oyster::Math::Float restitutionCoeff, ::Oyster::Math::Float staticFrictionCoeff, ::Oyster::Math::Float kineticFrictionCoeff, const ::Oyster::Math::Float4x4 &inertiaTensor, const ::Oyster::Math::Float4 &reach, const ::Oyster::Math::Float4 &centerPos, const ::Oyster::Math::Float4 &rotation, const ::Oyster::Math::Float4 &linearMomentum, const ::Oyster::Math::Float4 &angularMomentum )
			{
				this->mass = mass;
				this->restitutionCoeff = restitutionCoeff;
				this->staticFrictionCoeff = staticFrictionCoeff;
				this->kineticFrictionCoeff = kineticFrictionCoeff;
				this->inertiaTensor = inertiaTensor;
				this->reach = reach;
				this->centerPos = centerPos;
				this->angularAxis = rotation;
				this->linearMomentum = linearMomentum;
				this->angularMomentum = angularMomentum;
				this->linearImpulse = this->angularImpulse = ::Oyster::Math::Float4::null;
				this->deltaPos = this->deltaAxis = ::Oyster::Math::Float4::null;
				this->isSpatiallyAltered = this->isDisturbed = this->isForwarded = false;
			}

			inline CustomBodyState & CustomBodyState::operator = ( const CustomBodyState &state )
			{
				this->mass = state.mass;
				this->restitutionCoeff = state.restitutionCoeff;
				this->staticFrictionCoeff = state.staticFrictionCoeff;
				this->kineticFrictionCoeff = state.kineticFrictionCoeff;
				this->inertiaTensor = state.inertiaTensor;
				this->reach = state.reach;
				this->centerPos = state.centerPos;
				this->angularAxis = state.angularAxis;
				this->linearMomentum = state.linearMomentum;
				this->angularMomentum = state.angularMomentum;
				this->linearImpulse = state.linearImpulse;
				this->angularImpulse = state.angularImpulse;
				this->deltaPos = state.deltaPos;
				this->deltaAxis = state.deltaAxis;
				this->isSpatiallyAltered = state.isSpatiallyAltered;
				this->isDisturbed = state.isDisturbed;
				this->isForwarded = state.isForwarded;
				return *this;
			}

			inline const ::Oyster::Math::Float CustomBodyState::GetMass() const
			{
				return this->mass;
			}

			inline const ::Oyster::Math::Float CustomBodyState::GetRestitutionCoeff() const
			{
				return this->restitutionCoeff;
			}

			inline const ::Oyster::Math::Float CustomBodyState::GetFrictionCoeff_Static() const
			{
				return this->staticFrictionCoeff;
			}

			inline const ::Oyster::Math::Float CustomBodyState::GetFrictionCoeff_Kinetic() const
			{
				return this->kineticFrictionCoeff;
			}

			inline const ::Oyster::Math::Float4x4 & CustomBodyState::GetMomentOfInertia() const
			{
				return this->inertiaTensor;
			}

			inline const ::Oyster::Math::Float4 & CustomBodyState::GetReach() const
			{
				return this->reach;
			}

			inline ::Oyster::Math::Float4 CustomBodyState::GetSize() const
			{
				return 2.0f * this->GetReach();
			}

			inline const ::Oyster::Math::Float4 & CustomBodyState::GetCenterPosition() const
			{
				return this->centerPos;
			}

			inline const ::Oyster::Math::Float4 & CustomBodyState::GetAngularAxis() const
			{
				return this->angularAxis;
			}

			inline ::Oyster::Math::Float4x4 CustomBodyState::GetRotation() const
			{
				return ::Oyster::Math3D::RotationMatrix( this->GetAngularAxis().xyz );
			}

			inline ::Oyster::Math::Float4x4 CustomBodyState::GetOrientation() const
			{
				return ::Oyster::Math3D::OrientationMatrix( this->angularAxis.xyz, this->centerPos.xyz );
			}

			inline ::Oyster::Math::Float4x4 CustomBodyState::GetOrientation( const ::Oyster::Math::Float4 &offset ) const
			{
				return ::Oyster::Math3D::OrientationMatrix( this->angularAxis.xyz, (this->centerPos + offset).xyz );
			}

			inline ::Oyster::Math::Float4x4 CustomBodyState::GetView() const
			{
				return ::Oyster::Math3D::ViewMatrix( this->angularAxis.xyz, this->centerPos.xyz );
			}

			inline ::Oyster::Math::Float4x4 CustomBodyState::GetView( const ::Oyster::Math::Float4 &offset ) const
			{
				return ::Oyster::Math3D::ViewMatrix( this->angularAxis.xyz, (this->centerPos + offset).xyz );
			}

			inline const ::Oyster::Math::Float4 & CustomBodyState::GetLinearMomentum() const
			{
				return this->linearMomentum;
			}

			inline ::Oyster::Math::Float4 CustomBodyState::GetLinearMomentum( const ::Oyster::Math::Float4 &at ) const
			{
				//return this->linearMomentum + ::Oyster::Physics3D::Formula::TangentialLinearMomentum( this->angularMomentum, at - this->centerPos ); // C3083 error?
				
				::Oyster::Math::Float4 offset = at - this->centerPos;
				return this->linearMomentum + ( ::Oyster::Math::Float4(this->angularMomentum.xyz.Cross(offset.xyz), 0.0f) /= offset.Dot(offset) );
			}

			inline const ::Oyster::Math::Float4 & CustomBodyState::GetAngularMomentum() const
			{
				return this->angularMomentum;
			}

			inline const ::Oyster::Math::Float4 & CustomBodyState::GetLinearImpulse() const
			{
				return this->linearImpulse;
			}

			inline const ::Oyster::Math::Float4 & CustomBodyState::GetAngularImpulse() const
			{
				return this->angularImpulse;
			}

			inline const ::Oyster::Math::Float4 & CustomBodyState::GetForward_DeltaPos() const
			{
				return this->deltaPos;
			}

			inline const ::Oyster::Math::Float4 & CustomBodyState::GetForward_DeltaAxis() const
			{
				return this->deltaAxis;
			}

			inline void CustomBodyState::SetMass_KeepMomentum( ::Oyster::Math::Float m )
			{
				this->mass = m;
			}

			inline void CustomBodyState::SetMass_KeepVelocity( ::Oyster::Math::Float m )
			{
				if( m != 0.0f )
				{ // sanity block!
					// Formula::LinearMomentum( m, Formula::LinearVelocity(this->mass, this->linearMomentum) )
					// is the same as (this->linearMomentum / this->mass) * m = (m / this->mass) * this->linearMomentum
					this->linearMomentum *= (m / this->mass);
					this->mass = m;
				}
			}

			inline void CustomBodyState::SetRestitutionCoeff( ::Oyster::Math::Float e )
			{
				this->restitutionCoeff = e;
			}

			inline void CustomBodyState::SetFrictionCoeff( ::Oyster::Math::Float staticU, ::Oyster::Math::Float kineticU )
			{
				this->staticFrictionCoeff = staticU;
				this->kineticFrictionCoeff = kineticU;
			}

			inline void CustomBodyState::SetMomentOfInertia_KeepMomentum( const ::Oyster::Math::Float4x4 &tensor )
			{
				this->inertiaTensor = tensor;
			}

			inline void CustomBodyState::SetMomentOfInertia_KeepVelocity( const ::Oyster::Math::Float4x4 &tensor )
			{
				if( tensor.GetDeterminant() != 0.0f )
				{ // sanity block!
					::Oyster::Math::Float4x4 rotation = ::Oyster::Math3D::RotationMatrix(this->angularAxis.xyz);
					//::Oyster::Math::Float4 w = ::Oyster::Physics3D::Formula::AngularVelocity( (rotation * this->inertiaTensor).GetInverse(), this->angularMomentum ); // C3083 error?
					::Oyster::Math::Float4 w = (rotation * this->inertiaTensor).GetInverse() * this->angularMomentum;
					this->inertiaTensor = tensor;
					//this->angularMomentum = ::Oyster::Physics3D::Formula::AngularMomentum( rotation * tensor, w ); // C3083 error?
					this->angularMomentum = rotation * tensor * w;
				}
			}
		
			inline void CustomBodyState::SetSize( const ::Oyster::Math::Float4 &size )
			{
				this->SetReach( 0.5f * size );
			}

			inline void CustomBodyState::SetReach( const ::Oyster::Math::Float4 &halfSize )
			{
				this->reach.xyz = halfSize;
				this->reach = ::Utility::Value::Max( this->reach, ::Oyster::Math::Float4::null );
				this->isSpatiallyAltered = this->isDisturbed = true;
			}

			inline void CustomBodyState::SetCenterPosition( const ::Oyster::Math::Float4 &centerPos )
			{
				this->centerPos.xyz = centerPos;
				this->isSpatiallyAltered = this->isDisturbed = true;
			}

			inline void CustomBodyState::SetRotation( const ::Oyster::Math::Float4 &angularAxis )
			{
				this->angularAxis.xyz = angularAxis;
				this->isSpatiallyAltered = this->isDisturbed = true;
			}

			inline void CustomBodyState::SetRotation( const ::Oyster::Math::Float4x4 &rotation )
			{
				this->SetRotation( ::Oyster::Math3D::AngularAxis(rotation) );
			}

			inline void CustomBodyState::SetOrientation( const ::Oyster::Math::Float4x4 &orientation )
			{
				this->SetRotation( ::Oyster::Math3D::ExtractAngularAxis(orientation) );
				this->SetCenterPosition( orientation.v[3] );
			}

			inline void CustomBodyState::SetLinearMomentum( const ::Oyster::Math::Float4 &g )
			{
				this->linearMomentum.xyz = g;
				this->isDisturbed = true;
			}

			inline void CustomBodyState::SetAngularMomentum( const ::Oyster::Math::Float4 &h )
			{
				this->angularMomentum.xyz = h;
				this->isDisturbed = true;
			}

			inline void CustomBodyState::SetLinearImpulse( const ::Oyster::Math::Float4 &j )
			{
				this->linearImpulse.xyz = j;
				this->isDisturbed = true;
			}

			inline void CustomBodyState::SetAngularImpulse( const ::Oyster::Math::Float4 &j )
			{
				this->angularImpulse.xyz = j;
				this->isDisturbed = true;
			}

			inline void CustomBodyState::AddRotation( const ::Oyster::Math::Float4 &angularAxis )
			{
				this->angularAxis += angularAxis;
				this->isSpatiallyAltered = this->isDisturbed = true;
			}

			inline void CustomBodyState::AddTranslation( const ::Oyster::Math::Float4 &deltaPos )
			{
				this->centerPos += deltaPos;
				this->isSpatiallyAltered = this->isDisturbed = true;
			}

			inline void CustomBodyState::ApplyLinearImpulse( const ::Oyster::Math::Float4 &j )
			{
				this->linearImpulse += j;
				this->isDisturbed = true;
			}

			inline void CustomBodyState::ApplyAngularImpulse( const ::Oyster::Math::Float4 &j )
			{
				this->angularImpulse += j;
				this->isDisturbed = true;
			}

			inline void CustomBodyState::ApplyImpulse( const ::Oyster::Math::Float4 &j, const ::Oyster::Math::Float4 &at, const ::Oyster::Math::Float4 &normal )
			{
				//::Oyster::Math::Float4 tangentialImpulse = ::Oyster::Physics3D::Formula::AngularMomentum( j, at - this->centerPos ); // C3083 error?
				::Oyster::Math::Float4 tangentialImpulse = ::Oyster::Math::Float4( (at - this->centerPos).xyz.Cross(j.xyz), 0.0f );
				this->linearImpulse += j - tangentialImpulse;
				this->angularImpulse += tangentialImpulse;

				this->isDisturbed = true;
			}

			inline void CustomBodyState::ApplyForwarding( const ::Oyster::Math::Float4 &deltaPos, const ::Oyster::Math::Float4 &deltaAxis )
			{
				this->deltaPos += deltaPos;
				this->deltaAxis += deltaAxis;
				this->isDisturbed = this->isForwarded = true;
			}

			inline bool CustomBodyState::IsSpatiallyAltered() const
			{
				return this->isSpatiallyAltered;
			}

			inline bool CustomBodyState::IsDisturbed() const
			{
				return this->isDisturbed;
			}

			inline bool CustomBodyState::IsForwarded() const
			{
				return this->isForwarded;
			}

			inline GravityWell::GravityWell( )
			{
				this->position	= ::Oyster::Math::Float3::null;
				this->mass		= 0.0f;
			}
			
			inline GravityWell::GravityWell( const GravityWell &gravityWell )
			{
				this->position	= gravityWell.position;
				this->mass		= gravityWell.mass;
			}

			inline GravityWell & GravityWell::operator = ( const GravityWell &gravityWell )
			{
				this->position	= gravityWell.position;
				this->mass		= gravityWell.mass;

				return *this;
			}

			inline GravityDirected::GravityDirected( )
			{
				this->impulse = ::Oyster::Math::Float3::null;
			}

			inline GravityDirected::GravityDirected( const GravityDirected &gravityDirected )
			{
				this->impulse = gravityDirected.impulse;
			}

			inline GravityDirected & GravityDirected::operator = ( const GravityDirected &gravityDirected )
			{
				this->impulse = gravityDirected.impulse;

				return *this;
			}

			inline GravityDirectedField::GravityDirectedField( )
			{
				this->normalizedDirection	= ::Oyster::Math::Float3::null;
				this->mass					= 0.0f;
				this->magnitude				= 0.0f;
			}

			inline GravityDirectedField::GravityDirectedField( const GravityDirectedField &gravityDirectedField )
			{
				this->normalizedDirection	= gravityDirectedField.normalizedDirection;
				this->mass					= gravityDirectedField.mass;
				this->magnitude				= gravityDirectedField.magnitude;
			}

			inline GravityDirectedField & GravityDirectedField::operator = ( const GravityDirectedField &gravityDirectedField )
			{
				this->normalizedDirection	= gravityDirectedField.normalizedDirection;
				this->mass					= gravityDirectedField.mass;
				this->magnitude				= gravityDirectedField.magnitude;

				return *this;
			}

			inline Gravity::Gravity()
			{
				this->gravityType = GravityType_Undefined;
			}

			inline Gravity::Gravity( const Gravity &gravity )
			{
				this->gravityType = gravity.gravityType;

				switch( gravity.gravityType )
				{
				case GravityType_Well:
					this->well = gravity.well;
					break;
				case GravityType_Directed:
					this->directed = gravity.directed;
					break;
				case GravityType_DirectedField:
					this->directedField = gravity.directedField;
					break;
				default: break;
				}
			}
		
			inline Gravity & Gravity::operator = ( const Gravity &gravity )
			{
				this->gravityType = gravity.gravityType;

				switch( gravity.gravityType )
				{
				case GravityType_Well:
					this->well = gravity.well;
					break;
				case GravityType_Directed:
					this->directed = gravity.directed;
					break;
				case GravityType_DirectedField:
					this->directedField = gravity.directedField;
					break;
				default: break;
				}

				return *this;
			}
		}
	} 
}

#endif