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

This commit is contained in:
lindaandersson 2014-02-04 10:39:09 +01:00
parent 00400a7d32 42cb1dab1d
commit 07e8624807
2 changed files with 20 additions and 14 deletions
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15
Code/GamePhysics/Implementation/SimpleRigidBody.cpp
View File

@ -64,12 +64,15 @@ SimpleRigidBody::SimpleRigidBody( const API::SimpleBodyDescription &desc )
{ {
this->rigid = RigidBody(); this->rigid = RigidBody();
this->rigid.SetRotation( desc.rotation ); this->rigid.SetRotation( desc.rotation );
this->rigid.centerPos = desc.centerPosition; this->rigid.centerPos = desc.centerPosition;
this->rigid.SetSize( desc.size ); this->rigid.SetSize( desc.size );
this->rigid.restitutionCoeff = desc.restitutionCoeff;
this->rigid.frictionCoeff_Static = desc.frictionCoeff_Static;
this->rigid.frictionCoeff_Kinetic = desc.frictionCoeff_Dynamic;
this->rigid.SetMass_KeepMomentum( desc.mass ); this->rigid.SetMass_KeepMomentum( desc.mass );
this->rigid.SetMomentOfInertia_KeepMomentum( desc.inertiaTensor ); this->rigid.SetMomentOfInertia_KeepMomentum( desc.inertiaTensor );
this->deltaPos = Float4::null; this->deltaPos = Float4::null;
this->deltaAxis = Float4::null; this->deltaAxis = Float4::null;
this->gravityNormal = Float3::null; this->gravityNormal = Float3::null;
@ -333,23 +336,23 @@ UpdateState SimpleRigidBody::Update( Float timeStepLength )
// this->isForwarded = false; // this->isForwarded = false;
//} //}
this->rigid.Update_LeapFrog( timeStepLength );
{ // Rebound if needed { // Rebound if needed
if( this->collisionRebound.timeOfContact < 1.0f ) if( this->collisionRebound.timeOfContact < 1.0f )
{ {
this->rigid.centerPos = Lerp( this->collisionRebound.previousSpatial.center, this->rigid.centerPos, this->collisionRebound.timeOfContact ); this->rigid.centerPos = Lerp( this->collisionRebound.previousSpatial.center, this->rigid.centerPos, this->collisionRebound.timeOfContact );
this->rigid.SetRotation( Lerp(this->collisionRebound.previousSpatial.axis, this->rigid.axis, this->collisionRebound.timeOfContact) ); this->rigid.SetRotation( Lerp(this->collisionRebound.previousSpatial.axis, this->rigid.axis, this->collisionRebound.timeOfContact) );
this->rigid.boundingReach = Lerp( this->collisionRebound.previousSpatial.reach, this->rigid.boundingReach, this->collisionRebound.timeOfContact ); this->rigid.boundingReach = Lerp( this->collisionRebound.previousSpatial.reach, this->rigid.boundingReach, this->collisionRebound.timeOfContact );
this->collisionRebound.timeOfContact = 1.0f;
} }
// Update rebound data // Update rebound data
this->collisionRebound.previousSpatial.center = this->rigid.centerPos; this->collisionRebound.previousSpatial.center = this->rigid.centerPos;
this->collisionRebound.previousSpatial.axis = this->rigid.axis; this->collisionRebound.previousSpatial.axis = this->rigid.axis;
this->collisionRebound.previousSpatial.reach = this->rigid.boundingReach; this->collisionRebound.previousSpatial.reach = this->rigid.boundingReach;
this->collisionRebound.timeOfContact = 1.0f;
} }
this->rigid.Update_LeapFrog( timeStepLength );
{ // Maintain rotation resolution by keeping axis within [0, 2pi] (trigonometric methods gets faster too) { // Maintain rotation resolution by keeping axis within [0, 2pi] (trigonometric methods gets faster too)
Float3 n; Float3 n;
::std::modf( this->rigid.axis * (0.5f / pi), n ); ::std::modf( this->rigid.axis * (0.5f / pi), n );

19
Code/GamePhysics/Implementation/SphericalRigidBody.cpp
View File

@ -29,14 +29,17 @@ SphericalRigidBody::SphericalRigidBody()
SphericalRigidBody::SphericalRigidBody( const API::SphericalBodyDescription &desc ) SphericalRigidBody::SphericalRigidBody( const API::SphericalBodyDescription &desc )
{ {
this->rigid = RigidBody(); this->rigid = RigidBody();
this->rigid.SetRotation( desc.rotation ); this->rigid.SetRotation( desc.rotation );
this->rigid.centerPos = desc.centerPosition; this->rigid.centerPos = desc.centerPosition;
this->rigid.boundingReach = Float4( desc.radius, desc.radius, desc.radius, 0.0f ); this->rigid.boundingReach = Float4( desc.radius, desc.radius, desc.radius, 0.0f );
this->rigid.restitutionCoeff = desc.restitutionCoeff;
this->rigid.frictionCoeff_Static = desc.frictionCoeff_Static;
this->rigid.frictionCoeff_Kinetic = desc.frictionCoeff_Dynamic;
this->rigid.SetMass_KeepMomentum( desc.mass ); this->rigid.SetMass_KeepMomentum( desc.mass );
this->rigid.SetMomentOfInertia_KeepMomentum( MomentOfInertia::Sphere(desc.mass, desc.radius) ); this->rigid.SetMomentOfInertia_KeepMomentum( MomentOfInertia::Sphere(desc.mass, desc.radius) );
this->deltaPos = Float4::null; this->deltaPos = Float4::null;
this->deltaAxis = Float4::null; this->deltaAxis = Float4::null;
this->gravityNormal = Float3::null; this->gravityNormal = Float3::null;
@ -254,23 +257,23 @@ UpdateState SphericalRigidBody::Update( Float timeStepLength )
// this->isForwarded = false; // this->isForwarded = false;
//} //}
this->rigid.Update_LeapFrog( timeStepLength );
{ // Rebound if needed { // Rebound if needed
if( this->collisionRebound.timeOfContact < 1.0f ) if( this->collisionRebound.timeOfContact < 1.0f )
{ {
this->rigid.centerPos = Lerp( this->collisionRebound.previousSpatial.center, this->rigid.centerPos, this->collisionRebound.timeOfContact ); this->rigid.centerPos = Lerp( this->collisionRebound.previousSpatial.center, this->rigid.centerPos, this->collisionRebound.timeOfContact );
this->rigid.SetRotation( Lerp(this->collisionRebound.previousSpatial.axis, this->rigid.axis, this->collisionRebound.timeOfContact) ); this->rigid.SetRotation( Lerp(this->collisionRebound.previousSpatial.axis, this->rigid.axis, this->collisionRebound.timeOfContact) );
this->rigid.boundingReach = Lerp( this->collisionRebound.previousSpatial.reach, this->rigid.boundingReach, this->collisionRebound.timeOfContact ); this->rigid.boundingReach = Lerp( this->collisionRebound.previousSpatial.reach, this->rigid.boundingReach, this->collisionRebound.timeOfContact );
this->collisionRebound.timeOfContact = 1.0f;
} }
// Update rebound data // Update rebound data
this->collisionRebound.previousSpatial.center = this->rigid.centerPos; this->collisionRebound.previousSpatial.center = this->rigid.centerPos;
this->collisionRebound.previousSpatial.axis = this->rigid.axis; this->collisionRebound.previousSpatial.axis = this->rigid.axis;
this->collisionRebound.previousSpatial.reach = this->rigid.boundingReach; this->collisionRebound.previousSpatial.reach = this->rigid.boundingReach;
this->collisionRebound.timeOfContact = 1.0f;
} }
this->rigid.Update_LeapFrog( timeStepLength );
{ // Maintain rotation resolution by keeping axis within [0, 2pi] (trigonometric methods gets faster too) { // Maintain rotation resolution by keeping axis within [0, 2pi] (trigonometric methods gets faster too)
Float3 n; Float3 n;
::std::modf( this->rigid.axis * (0.5f / pi), n ); ::std::modf( this->rigid.axis * (0.5f / pi), n );