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Merge branch 'Physics' of https://github.com/dean11/Danbias into Physics

This commit is contained in:
Robin Engman 2014-01-28 09:25:07 +01:00
parent 5d1e05cc4e 6be72da03a
commit 018d6e3c5a
5 changed files with 80 additions and 81 deletions
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16
Code/OysterPhysics3D/Inertia.cpp
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@ -26,26 +26,26 @@ MomentOfInertia & MomentOfInertia::operator = ( const MomentOfInertia &i )
return *this; return *this;
} }
Float4 MomentOfInertia::CalculateAngularVelocity( const Quaternion &externR, const Float4 &h ) const Float3 MomentOfInertia::CalculateAngularVelocity( const Quaternion &externR, const Float3 &h ) const
{ {
return this->CalculateAngularVelocity( externR, h, Float4() ); return this->CalculateAngularVelocity( externR, h, Float3() );
} }
Float4 & MomentOfInertia::CalculateAngularVelocity( const Quaternion &externR, const Float4 &h, Float4 &targetMem ) const Float3 & MomentOfInertia::CalculateAngularVelocity( const Quaternion &externR, const Float3 &h, Float3 &targetMem ) const
{ // w = (R * I_R) * I_M^-1 * (R * I_R)^-1 * h { // w = (R * I_R) * I_M^-1 * (R * I_R)^-1 * h
Float4x4 rotation = RotationMatrix( externR ) * RotationMatrix( this->rotation ); Float4x4 rotation = RotationMatrix( externR ) * RotationMatrix( this->rotation );
Float4 w = rotation.GetInverse() * h; Float4 w = rotation.GetInverse() * Float4( h, 0.0f );
return targetMem = rotation * w.PiecewiseMultiplicationAdd( Float4(1.0f / this->magnitude.x, 1.0f / this->magnitude.y, 1.0f / this->magnitude.z, 0.0f) ); return targetMem = rotation * w.PiecewiseMultiplicationAdd( Float4(1.0f / this->magnitude.x, 1.0f / this->magnitude.y, 1.0f / this->magnitude.z, 0.0f) );
} }
Float4 MomentOfInertia::CalculateAngularMomentum( const Quaternion &externR, const Float4 &w ) const Float3 MomentOfInertia::CalculateAngularMomentum( const Quaternion &externR, const Float3 &w ) const
{ {
return this->CalculateAngularMomentum( externR, w, Float4() ); return this->CalculateAngularMomentum( externR, w, Float3() );
} }
Float4 & MomentOfInertia::CalculateAngularMomentum( const Quaternion &externR, const Float4 &w, Float4 &targetMem ) const Float3 & MomentOfInertia::CalculateAngularMomentum( const Quaternion &externR, const Float3 &w, Float3 &targetMem ) const
{ // h = (R * I_R) * I_M * (R * I_R)^-1 * w { // h = (R * I_R) * I_M * (R * I_R)^-1 * w
Float4x4 rotation = RotationMatrix( externR ) * RotationMatrix( this->rotation ); Float4x4 rotation = RotationMatrix( externR ) * RotationMatrix( this->rotation );
Float4 h = rotation.GetInverse() * w; Float4 h = rotation.GetInverse() * Float4( w, 0.0f );
return targetMem = rotation * h.PiecewiseMultiplicationAdd( Float4(this->magnitude.x, this->magnitude.y, this->magnitude.z, 0.0f) ); return targetMem = rotation * h.PiecewiseMultiplicationAdd( Float4(this->magnitude.x, this->magnitude.y, this->magnitude.z, 0.0f) );
} }

8
Code/OysterPhysics3D/Inertia.h
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@ -19,11 +19,11 @@ namespace Oyster { namespace Physics3D
MomentOfInertia & operator = ( const MomentOfInertia &i ); MomentOfInertia & operator = ( const MomentOfInertia &i );
::Oyster::Math::Float4 CalculateAngularVelocity( const ::Oyster::Math::Quaternion &externR, const ::Oyster::Math::Float4 &angularMomentum ) const; ::Oyster::Math::Float3 CalculateAngularVelocity( const ::Oyster::Math::Quaternion &externR, const ::Oyster::Math::Float3 &angularMomentum ) const;
::Oyster::Math::Float4 & CalculateAngularVelocity( const ::Oyster::Math::Quaternion &externR, const ::Oyster::Math::Float4 &angularMomentum, ::Oyster::Math::Float4 &targetMem ) const; ::Oyster::Math::Float3 & CalculateAngularVelocity( const ::Oyster::Math::Quaternion &externR, const ::Oyster::Math::Float3 &angularMomentum, ::Oyster::Math::Float3 &targetMem ) const;
::Oyster::Math::Float4 CalculateAngularMomentum( const ::Oyster::Math::Quaternion &externR, const ::Oyster::Math::Float4 &angularVelocity ) const; ::Oyster::Math::Float3 CalculateAngularMomentum( const ::Oyster::Math::Quaternion &externR, const ::Oyster::Math::Float3 &angularVelocity ) const;
::Oyster::Math::Float4 & CalculateAngularMomentum( const ::Oyster::Math::Quaternion &externR, const ::Oyster::Math::Float4 &angularVelocity, ::Oyster::Math::Float4 &targetMem ) const; ::Oyster::Math::Float3 & CalculateAngularMomentum( const ::Oyster::Math::Quaternion &externR, const ::Oyster::Math::Float3 &angularVelocity, ::Oyster::Math::Float3 &targetMem ) const;
static ::Oyster::Math::Float CalculateSphere( const ::Oyster::Math::Float mass, const ::Oyster::Math::Float radius ); static ::Oyster::Math::Float CalculateSphere( const ::Oyster::Math::Float mass, const ::Oyster::Math::Float radius );
static ::Oyster::Math::Float CalculateHollowSphere( const ::Oyster::Math::Float mass, const ::Oyster::Math::Float radius ); static ::Oyster::Math::Float CalculateHollowSphere( const ::Oyster::Math::Float mass, const ::Oyster::Math::Float radius );

62
Code/OysterPhysics3D/RigidBody.cpp
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@ -72,7 +72,7 @@ void RigidBody::Update_LeapFrog( Float updateFrameLength )
this->impulse_Angular = Float4::null; this->impulse_Angular = Float4::null;
} }
void RigidBody::Predict_LeapFrog( Float4 &outDeltaPos, Float4 &outDeltaAxis, const Float4 &actingLinearImpulse, const Float4 &actingAngularImpulse, Float deltaTime ) void RigidBody::Predict_LeapFrog( Float3 &outDeltaPos, Float3 &outDeltaAxis, const Float3 &actingLinearImpulse, const Float3 &actingAngularImpulse, Float deltaTime )
{ {
// updating the linear // updating the linear
// ds = dt * Formula::LinearVelocity( m, avg_G ) = dt * avg_G / m = (dt / m) * avg_G // ds = dt * Formula::LinearVelocity( m, avg_G ) = dt * avg_G / m = (dt / m) * avg_G
@ -87,17 +87,17 @@ void RigidBody::Predict_LeapFrog( Float4 &outDeltaPos, Float4 &outDeltaAxis, con
outDeltaAxis = this->momentOfInertiaTensor.CalculateAngularVelocity( this->rotation, AverageWithDelta(this->momentum_Angular, this->impulse_Angular) ); outDeltaAxis = this->momentOfInertiaTensor.CalculateAngularVelocity( this->rotation, AverageWithDelta(this->momentum_Angular, this->impulse_Angular) );
} }
void RigidBody::Move( const Float4 &deltaPos, const Float4 &deltaAxis ) void RigidBody::Move( const Float3 &deltaPos, const Float3 &deltaAxis )
{ {
this->centerPos += deltaPos; this->centerPos += deltaPos;
this->axis += deltaAxis; this->axis += deltaAxis;
this->rotation = Rotation( this->axis ); this->rotation = Rotation( this->axis );
} }
void RigidBody::ApplyImpulse( const Float4 &worldJ, const Float4 &atWorldPos ) void RigidBody::ApplyImpulse( const Float3 &worldJ, const Float3 &atWorldPos )
{ // by Dan Andersson { // by Dan Andersson
Float4 worldOffset = atWorldPos - this->centerPos; Float3 worldOffset = atWorldPos - this->centerPos;
if( worldOffset != Float4::null ) if( worldOffset != Float3::null )
{ {
this->impulse_Linear += VectorProjection( worldJ, atWorldPos ); this->impulse_Linear += VectorProjection( worldJ, atWorldPos );
this->impulse_Angular += Formula::ImpulseTorque( worldJ, atWorldPos ); this->impulse_Angular += Formula::ImpulseTorque( worldJ, atWorldPos );
@ -118,7 +118,7 @@ Float RigidBody::GetMass() const
return this->mass; return this->mass;
} }
const Quaternion & RigidBody::GetRotation() const const Quaternion & RigidBody::GetRotationQuaternion() const
{ // by Dan Andersson { // by Dan Andersson
return this->rotation; return this->rotation;
} }
@ -138,24 +138,24 @@ Float4x4 RigidBody::GetView() const
return ViewMatrix( this->rotation, this->centerPos ); return ViewMatrix( this->rotation, this->centerPos );
} }
Float4 RigidBody::GetVelocity_Linear() const Float3 RigidBody::GetVelocity_Linear() const
{ // by Dan Andersson { // by Dan Andersson
return Formula::LinearVelocity( this->mass, this->momentum_Linear ); return Formula::LinearVelocity( this->mass, this->momentum_Linear );
} }
Float4 RigidBody::GetVelocity_Angular() const Float3 RigidBody::GetVelocity_Angular() const
{ // by Dan Andersson { // by Dan Andersson
return this->momentOfInertiaTensor.CalculateAngularVelocity( this->rotation, this->momentum_Angular ); return this->momentOfInertiaTensor.CalculateAngularVelocity( this->rotation, this->momentum_Angular );
} }
Float4 RigidBody::GetLinearMomentum( const Float4 &atWorldPos ) const Float3 RigidBody::GetLinearMomentum( const Float3 &atWorldPos ) const
{ // by Dan Andersson { // by Dan Andersson
return this->momentum_Linear + Formula::TangentialLinearMomentum( this->momentum_Angular, atWorldPos - this->centerPos ); return this->momentum_Linear + Formula::TangentialLinearMomentum( this->momentum_Angular, atWorldPos - this->centerPos );
} }
void RigidBody::SetMomentOfInertia_KeepVelocity( const MomentOfInertia &localTensorI ) void RigidBody::SetMomentOfInertia_KeepVelocity( const MomentOfInertia &localTensorI )
{ // by Dan Andersson { // by Dan Andersson
Float4 w = this->momentOfInertiaTensor.CalculateAngularVelocity( this->rotation, this->momentum_Angular ); Float3 w = this->momentOfInertiaTensor.CalculateAngularVelocity( this->rotation, this->momentum_Angular );
this->momentOfInertiaTensor = localTensorI; this->momentOfInertiaTensor = localTensorI;
this->momentum_Angular = this->momentOfInertiaTensor.CalculateAngularVelocity( this->rotation, w ); this->momentum_Angular = this->momentOfInertiaTensor.CalculateAngularVelocity( this->rotation, w );
} }
@ -169,7 +169,7 @@ void RigidBody::SetMass_KeepVelocity( const Float &m )
{ // by Dan Andersson { // by Dan Andersson
if( m != 0.0f ) if( m != 0.0f )
{ // insanity check! Mass must be invertable { // insanity check! Mass must be invertable
Float4 v = Formula::LinearVelocity( this->mass, this->momentum_Linear ); Float3 v = Formula::LinearVelocity( this->mass, this->momentum_Linear );
this->mass = m; this->mass = m;
this->momentum_Linear = Formula::LinearMomentum( this->mass, v ); this->momentum_Linear = Formula::LinearMomentum( this->mass, v );
} }
@ -183,46 +183,46 @@ void RigidBody::SetMass_KeepMomentum( const Float &m )
} }
} }
void RigidBody::SetOrientation( const Float4x4 &o ) //void RigidBody::SetOrientation( const Float4x4 &o )
{ // by Dan Andersson //{ // by Dan Andersson
this->axis = ExtractAngularAxis( o ); // this->axis = ExtractAngularAxis( o );
this->rotation = Rotation( this->axis ); // this->rotation = Rotation( this->axis );
this->centerPos = o.v[3].xyz; // this->centerPos = o.v[3].xyz;
} //}
//
//void RigidBody::SetRotation( const Float4x4 &r )
//{ // by Dan Andersson
// this->axis = ExtractAngularAxis( r );
// this->rotation = Rotation( this->axis );
//}
void RigidBody::SetRotation( const Float4x4 &r ) void RigidBody::SetMomentum_Linear( const Float3 &worldG, const Float3 &atWorldPos )
{ // by Dan Andersson { // by Dan Andersson
this->axis = ExtractAngularAxis( r ); Float3 worldOffset = atWorldPos - this->centerPos;
this->rotation = Rotation( this->axis );
}
void RigidBody::SetMomentum_Linear( const Float4 &worldG, const Float4 &atWorldPos )
{ // by Dan Andersson
Float4 worldOffset = atWorldPos - this->centerPos;
this->momentum_Linear = VectorProjection( worldG, worldOffset ); this->momentum_Linear = VectorProjection( worldG, worldOffset );
this->momentum_Angular = Formula::AngularMomentum( worldG, worldOffset ); this->momentum_Angular = Formula::AngularMomentum( worldG, worldOffset );
} }
void RigidBody::SetVelocity_Linear( const Float4 &worldV ) void RigidBody::SetVelocity_Linear( const Float3 &worldV )
{ // by Dan Andersson { // by Dan Andersson
this->momentum_Linear = Formula::LinearMomentum( this->mass, worldV ); this->momentum_Linear = Formula::LinearMomentum( this->mass, worldV );
} }
void RigidBody::SetVelocity_Linear( const Float4 &worldV, const Float4 &atWorldPos ) void RigidBody::SetVelocity_Linear( const Float3 &worldV, const Float3 &atWorldPos )
{ // by Dan Andersson { // by Dan Andersson
Float4 worldOffset = atWorldPos - this->centerPos; Float3 worldOffset = atWorldPos - this->centerPos;
this->momentum_Linear = Formula::LinearMomentum( this->mass, VectorProjection(worldV, worldOffset) ); this->momentum_Linear = Formula::LinearMomentum( this->mass, VectorProjection(worldV, worldOffset) );
this->momentum_Angular = this->momentOfInertiaTensor.CalculateAngularMomentum( this->rotation, Formula::AngularVelocity(worldV, worldOffset) ); this->momentum_Angular = this->momentOfInertiaTensor.CalculateAngularMomentum( this->rotation, Formula::AngularVelocity(worldV, worldOffset) );
} }
void RigidBody::SetVelocity_Angular( const Float4 &worldW ) void RigidBody::SetVelocity_Angular( const Float3 &worldW )
{ // by Dan Andersson { // by Dan Andersson
this->momentum_Angular = this->momentOfInertiaTensor.CalculateAngularMomentum( this->rotation, worldW ); this->momentum_Angular = this->momentOfInertiaTensor.CalculateAngularMomentum( this->rotation, worldW );
} }
void RigidBody::SetImpulse_Linear( const Float4 &worldJ, const Float4 &atWorldPos ) void RigidBody::SetImpulse_Linear( const Float3 &worldJ, const Float3 &atWorldPos )
{ // by Dan Andersson { // by Dan Andersson
Float4 worldOffset = atWorldPos - this->centerPos; Float3 worldOffset = atWorldPos - this->centerPos;
this->impulse_Linear = VectorProjection( worldJ, worldOffset ); this->impulse_Linear = VectorProjection( worldJ, worldOffset );
this->impulse_Angular = Formula::ImpulseTorque( worldJ, worldOffset ); this->impulse_Angular = Formula::ImpulseTorque( worldJ, worldOffset );
} }

46
Code/OysterPhysics3D/RigidBody.h
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@ -15,7 +15,7 @@ namespace Oyster { namespace Physics3D
struct RigidBody struct RigidBody
{ //! A struct of a simple rigid body. { //! A struct of a simple rigid body.
public: public:
::Oyster::Math::Float4 centerPos, //!< Location of the body's center in the world. ::Oyster::Math::Float3 centerPos, //!< Location of the body's center in the world.
axis, //!< Euler rotationAxis of the body. axis, //!< Euler rotationAxis of the body.
boundingReach, //!< boundingReach, //!<
momentum_Linear, //!< The linear momentum G (kg*m/s). momentum_Linear, //!< The linear momentum G (kg*m/s).
@ -32,29 +32,29 @@ namespace Oyster { namespace Physics3D
RigidBody & operator = ( const RigidBody &body ); RigidBody & operator = ( const RigidBody &body );
void Update_LeapFrog( ::Oyster::Math::Float updateFrameLength ); void Update_LeapFrog( ::Oyster::Math::Float updateFrameLength );
void Predict_LeapFrog( ::Oyster::Math::Float4 &outDeltaPos, ::Oyster::Math::Float4 &outDeltaAxis, const ::Oyster::Math::Float4 &actingLinearImpulse, const ::Oyster::Math::Float4 &actingAngularImpulse, ::Oyster::Math::Float deltaTime ); void Predict_LeapFrog( ::Oyster::Math::Float3 &outDeltaPos, ::Oyster::Math::Float3 &outDeltaAxis, const ::Oyster::Math::Float3 &actingLinearImpulse, const ::Oyster::Math::Float3 &actingAngularImpulse, ::Oyster::Math::Float deltaTime );
void Move( const ::Oyster::Math::Float4 &deltaPos, const ::Oyster::Math::Float4 &deltaAxis ); void Move( const ::Oyster::Math::Float3 &deltaPos, const ::Oyster::Math::Float3 &deltaAxis );
void ApplyImpulse( const ::Oyster::Math::Float4 &worldJ, const ::Oyster::Math::Float4 &atWorldPos ); void ApplyImpulse( const ::Oyster::Math::Float3 &worldJ, const ::Oyster::Math::Float3 &atWorldPos );
void ApplyImpulse_Linear( const ::Oyster::Math::Float4 &worldJ ); void ApplyImpulse_Linear( const ::Oyster::Math::Float3 &worldJ );
void ApplyImpulse_Angular( const ::Oyster::Math::Float4 &worldJ ); void ApplyImpulse_Angular( const ::Oyster::Math::Float3 &worldJ );
void ApplyForce( const ::Oyster::Math::Float4 &worldF, ::Oyster::Math::Float updateFrameLength ); void ApplyForce( const ::Oyster::Math::Float3 &worldF, ::Oyster::Math::Float updateFrameLength );
void ApplyForce( const ::Oyster::Math::Float4 &worldF, ::Oyster::Math::Float updateFrameLength, const ::Oyster::Math::Float4 &atWorldPos ); void ApplyForce( const ::Oyster::Math::Float3 &worldF, ::Oyster::Math::Float updateFrameLength, const ::Oyster::Math::Float3 &atWorldPos );
// GET METHODS //////////////////////////////// // GET METHODS ////////////////////////////////
const ::Oyster::Physics3D::MomentOfInertia & GetMomentOfInertia() const; const ::Oyster::Physics3D::MomentOfInertia & GetMomentOfInertia() const;
::Oyster::Math::Float GetMass() const; ::Oyster::Math::Float GetMass() const;
const ::Oyster::Math::Quaternion & GetRotation() const; const ::Oyster::Math::Quaternion & GetRotationQuaternion() const;
::Oyster::Math::Float4x4 GetRotationMatrix() const; ::Oyster::Math::Float4x4 GetRotationMatrix() const;
::Oyster::Math::Float4x4 GetOrientation() const; ::Oyster::Math::Float4x4 GetOrientation() const;
::Oyster::Math::Float4x4 GetView() const; ::Oyster::Math::Float4x4 GetView() const;
::Oyster::Math::Float4x4 GetToWorldMatrix() const; ::Oyster::Math::Float4x4 GetToWorldMatrix() const;
::Oyster::Math::Float4x4 GetToLocalMatrix() const; ::Oyster::Math::Float4x4 GetToLocalMatrix() const;
::Oyster::Math::Float4 GetSize() const; ::Oyster::Math::Float3 GetSize() const;
::Oyster::Math::Float4 GetVelocity_Linear() const; ::Oyster::Math::Float3 GetVelocity_Linear() const;
::Oyster::Math::Float4 GetVelocity_Angular() const; ::Oyster::Math::Float3 GetVelocity_Angular() const;
::Oyster::Math::Float4 GetLinearMomentum( const ::Oyster::Math::Float4 &atWorldPos ) const; ::Oyster::Math::Float3 GetLinearMomentum( const ::Oyster::Math::Float3 &atWorldPos ) const;
// SET METHODS //////////////////////////////// // SET METHODS ////////////////////////////////
@ -63,19 +63,19 @@ namespace Oyster { namespace Physics3D
void SetMass_KeepVelocity( const ::Oyster::Math::Float &m ); void SetMass_KeepVelocity( const ::Oyster::Math::Float &m );
void SetMass_KeepMomentum( const ::Oyster::Math::Float &m ); void SetMass_KeepMomentum( const ::Oyster::Math::Float &m );
void SetOrientation( const ::Oyster::Math::Float4x4 &o ); //void SetOrientation( const ::Oyster::Math::Float4x4 &o );
void SetRotation( const ::Oyster::Math::Float4x4 &r ); //void SetRotation( const ::Oyster::Math::Float4x4 &r );
void SetSize( const ::Oyster::Math::Float4 &widthHeight ); void SetSize( const ::Oyster::Math::Float3 &widthHeight );
void SetMomentum_Linear( const ::Oyster::Math::Float4 &worldG, const ::Oyster::Math::Float4 &atWorldPos ); void SetMomentum_Linear( const ::Oyster::Math::Float3 &worldG, const ::Oyster::Math::Float3 &atWorldPos );
void SetVelocity_Linear( const ::Oyster::Math::Float4 &worldV ); void SetVelocity_Linear( const ::Oyster::Math::Float3 &worldV );
void SetVelocity_Linear( const ::Oyster::Math::Float4 &worldV, const ::Oyster::Math::Float4 &atWorldPos ); void SetVelocity_Linear( const ::Oyster::Math::Float3 &worldV, const ::Oyster::Math::Float3 &atWorldPos );
void SetVelocity_Angular( const ::Oyster::Math::Float4 &worldW ); void SetVelocity_Angular( const ::Oyster::Math::Float3 &worldW );
void SetImpulse_Linear( const ::Oyster::Math::Float4 &worldJ, const ::Oyster::Math::Float4 &atWorldPos ); void SetImpulse_Linear( const ::Oyster::Math::Float3 &worldJ, const ::Oyster::Math::Float3 &atWorldPos );
void SetForce( const ::Oyster::Math::Float4 &worldF, ::Oyster::Math::Float updateFrameLength ); //void SetForce( const ::Oyster::Math::Float3 &worldF, ::Oyster::Math::Float updateFrameLength );
void SetForce( const ::Oyster::Math::Float4 &worldF, ::Oyster::Math::Float updateFrameLength, const ::Oyster::Math::Float4 &atWorldPos ); //void SetForce( const ::Oyster::Math::Float3 &worldF, ::Oyster::Math::Float updateFrameLength, const ::Oyster::Math::Float3 &atWorldPos );
private: private:
::Oyster::Math::Float mass; //!< m (kg) ::Oyster::Math::Float mass; //!< m (kg)

29
Code/OysterPhysics3D/RigidBody_Inline.h
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@ -10,22 +10,22 @@
namespace Oyster { namespace Physics3D namespace Oyster { namespace Physics3D
{ {
inline void RigidBody::ApplyImpulse_Linear( const ::Oyster::Math::Float4 &worldJ ) inline void RigidBody::ApplyImpulse_Linear( const ::Oyster::Math::Float3 &worldJ )
{ {
this->impulse_Linear += worldJ; this->impulse_Linear += worldJ;
} }
inline void RigidBody::ApplyImpulse_Angular( const ::Oyster::Math::Float4 &worldJ ) inline void RigidBody::ApplyImpulse_Angular( const ::Oyster::Math::Float3 &worldJ )
{ {
this->impulse_Angular += worldJ; this->impulse_Angular += worldJ;
} }
inline void RigidBody::ApplyForce( const ::Oyster::Math::Float4 &worldF, ::Oyster::Math::Float updateFrameLength ) inline void RigidBody::ApplyForce( const ::Oyster::Math::Float3 &worldF, ::Oyster::Math::Float updateFrameLength )
{ {
this->impulse_Linear += worldF * updateFrameLength; this->impulse_Linear += worldF * updateFrameLength;
} }
inline void RigidBody::ApplyForce( const ::Oyster::Math::Float4 &worldF, ::Oyster::Math::Float updateFrameLength, const ::Oyster::Math::Float4 &atWorldPos ) inline void RigidBody::ApplyForce( const ::Oyster::Math::Float3 &worldF, ::Oyster::Math::Float updateFrameLength, const ::Oyster::Math::Float3 &atWorldPos )
{ {
this->ApplyImpulse( worldF * updateFrameLength, atWorldPos ); this->ApplyImpulse( worldF * updateFrameLength, atWorldPos );
} }
@ -40,26 +40,25 @@ namespace Oyster { namespace Physics3D
return this->GetView(); return this->GetView();
} }
inline ::Oyster::Math::Float4 RigidBody::GetSize() const inline ::Oyster::Math::Float3 RigidBody::GetSize() const
{ {
return 2.0f * this->boundingReach; return 2.0f * this->boundingReach;
} }
inline void RigidBody::SetSize( const ::Oyster::Math::Float4 &widthHeight ) inline void RigidBody::SetSize( const ::Oyster::Math::Float3 &widthHeight )
{ {
this->boundingReach = ::Utility::Value::Abs( 0.5f * widthHeight ); this->boundingReach = ::Utility::Value::Abs( 0.5f * widthHeight );
} }
inline void RigidBody::SetForce( const ::Oyster::Math::Float4 &worldF, ::Oyster::Math::Float updateFrameLength ) //inline void RigidBody::SetForce( const ::Oyster::Math::Float3 &worldF, ::Oyster::Math::Float updateFrameLength )
{ //{
this->impulse_Linear = worldF * updateFrameLength; // this->impulse_Linear = worldF * updateFrameLength;
} //}
inline void RigidBody::SetForce( const ::Oyster::Math::Float4 &worldF, ::Oyster::Math::Float updateFrameLength, const ::Oyster::Math::Float4 &atWorldPos )
{
this->SetImpulse_Linear( worldF * updateFrameLength, atWorldPos );
}
//inline void RigidBody::SetForce( const ::Oyster::Math::Float3 &worldF, ::Oyster::Math::Float updateFrameLength, const ::Oyster::Math::Float3 &atWorldPos )
//{
// this->SetImpulse_Linear( worldF * updateFrameLength, atWorldPos );
//}
} } } }
#endif #endif