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Added functionallity to stop collision responses

This commit is contained in:
Robin Engman 2014-01-29 11:22:04 +01:00
parent 4ccf11b5d6
commit 1d3b073e7f
8 changed files with 105 additions and 126 deletions
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47
Code/GamePhysics/Implementation/PhysicsAPI_Impl.cpp
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@ -22,12 +22,7 @@ namespace
Float4 worldPointOfContact;
if( proto->Intersects(*deuter, worldPointOfContact) )
{
switch( proto->CallSubscription_Collision(deuter) )
{
case ICustomBody::SubscriptMessage_ignore_collision_response:
break;
default:
{ // Apply CollisionResponse in pure gather pattern
// Apply CollisionResponse in pure gather pattern
ICustomBody::State protoState; proto->GetState( protoState );
ICustomBody::State deuterState; deuter->GetState( deuterState );
@ -45,29 +40,32 @@ namespace
{
if( protoG_Magnitude >= deuterG_Magnitude )
{
break;
return;
}
}
else if( deltaPos > 0.0f )
{
if( protoG_Magnitude <= deuterG_Magnitude )
{
break;
return;
}
}
else
{
break;
return;
}
if( proto->CallSubscription_BeforeCollisionResponse(proto) == ICustomBody::SubscriptMessage_ignore_collision_response )
{
return;
}
// bounce
Float4 bounceD = normal * -Formula::CollisionResponse::Bounce( deuterState.GetRestitutionCoeff(),
deuterState.GetMass(), deuterG_Magnitude,
protoState.GetMass(), protoG_Magnitude );
//sumJ -= Formula::CollisionResponse::Friction( impulse, normal,
// protoState.GetLinearMomentum(), protoState.GetFrictionCoeff_Static(), protoState.GetFrictionCoeff_Kinetic(), protoState.GetMass(),
// deuterState.GetLinearMomentum(), deuterState.GetFrictionCoeff_Static(), deuterState.GetFrictionCoeff_Kinetic(), deuterState.GetMass());
// calc from perspective of proto
proto->GetNormalAt( worldPointOfContact, normal );
@ -80,34 +78,15 @@ namespace
deuterState.GetMass(), deuterG_Magnitude );
Float4 bounce = Average( bounceD, bounceP );
//Float4 bounce = bounceD + bounceP;
// FRICTION
// Apply
//sumJ += ( 1 / deuterState.GetMass() )*frictionImpulse;
// FRICTION END
// Float4 forwardedDeltaPos, forwardedDeltaAxis;
// { // @todo TODO: is this right?
// Float4 bounceAngularImpulse = ::Oyster::Math::Float4( (worldPointOfContact - protoState.GetCenterPosition()).xyz.Cross(bounce.xyz), 0.0f ),
// bounceLinearImpulse = bounce - bounceAngularImpulse;
// proto->Predict( forwardedDeltaPos, forwardedDeltaAxis, bounceLinearImpulse, bounceAngularImpulse, API_instance.GetFrameTimeLength() );
// }
Float kineticEnergyPBefore = Oyster::Physics3D::Formula::LinearKineticEnergy( protoState.GetMass(), protoState.GetLinearMomentum()/protoState.GetMass() );
// protoState.ApplyForwarding( forwardedDeltaPos, forwardedDeltaAxis );
protoState.ApplyImpulse( bounce.xyz, worldPointOfContact.xyz, normal.xyz );
proto->SetState( protoState );
Float kineticEnergyPAFter = Oyster::Physics3D::Formula::LinearKineticEnergy( protoState.GetMass(), (protoState.GetLinearMomentum() + protoState.GetLinearImpulse())/protoState.GetMass() );
proto->CallSubscription_CollisionResponse( deuter, kineticEnergyPBefore - kineticEnergyPAFter );
}
break;
}
proto->CallSubscription_AfterCollisionResponse( deuter, kineticEnergyPBefore - kineticEnergyPAFter );
}
}
}
@ -384,12 +363,12 @@ namespace Oyster { namespace Physics
void EventAction_Destruction( ::Utility::DynamicMemory::UniquePointer<::Oyster::Physics::ICustomBody> proto )
{ /* Do nothing except allowing the proto uniquePointer destroy itself. */ }
::Oyster::Physics::ICustomBody::SubscriptMessage EventAction_Collision( const ::Oyster::Physics::ICustomBody *proto, const ::Oyster::Physics::ICustomBody *deuter )
::Oyster::Physics::ICustomBody::SubscriptMessage EventAction_BeforeCollisionResponse( const ::Oyster::Physics::ICustomBody *proto, const ::Oyster::Physics::ICustomBody *deuter )
{ /* Do nothing except returning business as usual. */
return ::Oyster::Physics::ICustomBody::SubscriptMessage_none;
}
void EventAction_CollisionResponse( const ::Oyster::Physics::ICustomBody *proto, const ::Oyster::Physics::ICustomBody *deuter, ::Oyster::Math::Float kineticEnergyLoss )
void EventAction_AfterCollisionResponse( const ::Oyster::Physics::ICustomBody *proto, const ::Oyster::Physics::ICustomBody *deuter, ::Oyster::Math::Float kineticEnergyLoss )
{ /* Do nothing except returning business as usual. */
}

4
Code/GamePhysics/Implementation/PhysicsAPI_Impl.h
View File

@ -61,8 +61,8 @@ namespace Oyster
namespace Default
{
void EventAction_Destruction( ::Utility::DynamicMemory::UniquePointer<::Oyster::Physics::ICustomBody> proto );
::Oyster::Physics::ICustomBody::SubscriptMessage EventAction_Collision( const ::Oyster::Physics::ICustomBody *proto, const ::Oyster::Physics::ICustomBody *deuter );
void EventAction_CollisionResponse( const ::Oyster::Physics::ICustomBody *proto, const ::Oyster::Physics::ICustomBody *deuter, ::Oyster::Math::Float kineticEnergyLoss );
::Oyster::Physics::ICustomBody::SubscriptMessage EventAction_BeforeCollisionResponse( const ::Oyster::Physics::ICustomBody *proto, const ::Oyster::Physics::ICustomBody *deuter );
void EventAction_AfterCollisionResponse( const ::Oyster::Physics::ICustomBody *proto, const ::Oyster::Physics::ICustomBody *deuter, ::Oyster::Math::Float kineticEnergyLoss );
void EventAction_Move( const ::Oyster::Physics::ICustomBody *object );
}
}

20
Code/GamePhysics/Implementation/SimpleRigidBody.cpp
View File

@ -46,8 +46,8 @@ SimpleRigidBody::SimpleRigidBody()
this->rigid = RigidBody();
this->rigid.SetMass_KeepMomentum( 16.0f );
this->gravityNormal = Float3::null;
this->onCollision = Default::EventAction_Collision;
this->onCollisionResponse = Default::EventAction_CollisionResponse;
this->onCollision = Default::EventAction_BeforeCollisionResponse;
this->onCollisionResponse = Default::EventAction_AfterCollisionResponse;
this->onMovement = Default::EventAction_Move;
this->scene = nullptr;
this->customTag = nullptr;
@ -72,7 +72,7 @@ SimpleRigidBody::SimpleRigidBody( const API::SimpleBodyDescription &desc )
}
else
{
this->onCollision = Default::EventAction_Collision;
this->onCollision = Default::EventAction_BeforeCollisionResponse;
}
if( desc.subscription_onCollisionResponse )
@ -81,7 +81,7 @@ SimpleRigidBody::SimpleRigidBody( const API::SimpleBodyDescription &desc )
}
else
{
this->onCollisionResponse = Default::EventAction_CollisionResponse;
this->onCollisionResponse = Default::EventAction_AfterCollisionResponse;
}
if( desc.subscription_onMovement )
@ -163,12 +163,12 @@ void SimpleRigidBody::SetState( const SimpleRigidBody::State &state )
}
}
ICustomBody::SubscriptMessage SimpleRigidBody::CallSubscription_Collision( const ICustomBody *deuter )
ICustomBody::SubscriptMessage SimpleRigidBody::CallSubscription_BeforeCollisionResponse( const ICustomBody *deuter )
{
return this->onCollision( this, deuter );
}
void SimpleRigidBody::CallSubscription_CollisionResponse( const ICustomBody *deuter, Float kineticEnergyLoss )
void SimpleRigidBody::CallSubscription_AfterCollisionResponse( const ICustomBody *deuter, Float kineticEnergyLoss )
{
return this->onCollisionResponse( this, deuter, kineticEnergyLoss );
}
@ -318,7 +318,7 @@ void SimpleRigidBody::SetScene( void *scene )
this->scene = (Octree*)scene;
}
void SimpleRigidBody::SetSubscription( ICustomBody::EventAction_Collision functionPointer )
void SimpleRigidBody::SetSubscription( ICustomBody::EventAction_BeforeCollisionResponse functionPointer )
{
if( functionPointer )
{
@ -326,11 +326,11 @@ void SimpleRigidBody::SetSubscription( ICustomBody::EventAction_Collision functi
}
else
{
this->onCollision = Default::EventAction_Collision;
this->onCollision = Default::EventAction_BeforeCollisionResponse;
}
}
void SimpleRigidBody::SetSubscription( ICustomBody::EventAction_CollisionResponse functionPointer )
void SimpleRigidBody::SetSubscription( ICustomBody::EventAction_AfterCollisionResponse functionPointer )
{
if( functionPointer )
{
@ -338,7 +338,7 @@ void SimpleRigidBody::SetSubscription( ICustomBody::EventAction_CollisionRespons
}
else
{
this->onCollisionResponse = Default::EventAction_CollisionResponse;
this->onCollisionResponse = Default::EventAction_AfterCollisionResponse;
}
}

12
Code/GamePhysics/Implementation/SimpleRigidBody.h
View File

@ -21,8 +21,8 @@ namespace Oyster { namespace Physics
void SetState( const State &state );
//::Oyster::Math::Float3 GetRigidLinearVelocity() const;
SubscriptMessage CallSubscription_Collision( const ICustomBody *deuter );
void CallSubscription_CollisionResponse( const ICustomBody *deuter, ::Oyster::Math::Float kineticEnergyLoss );
SubscriptMessage CallSubscription_BeforeCollisionResponse( const ICustomBody *deuter );
void CallSubscription_AfterCollisionResponse( const ICustomBody *deuter, ::Oyster::Math::Float kineticEnergyLoss );
void CallSubscription_Move();
bool IsAffectedByGravity() const;
@ -44,8 +44,8 @@ namespace Oyster { namespace Physics
void SetScene( void *scene );
void SetSubscription( EventAction_Collision functionPointer );
void SetSubscription( EventAction_CollisionResponse functionPointer );
void SetSubscription( EventAction_BeforeCollisionResponse functionPointer );
void SetSubscription( EventAction_AfterCollisionResponse functionPointer );
void SetSubscription( EventAction_Move functionPointer );
void SetGravity( bool ignore);
@ -65,8 +65,8 @@ namespace Oyster { namespace Physics
::Oyster::Physics3D::RigidBody rigid;
::Oyster::Math::Float4 deltaPos, deltaAxis;
::Oyster::Math::Float3 gravityNormal;
EventAction_Collision onCollision;
EventAction_CollisionResponse onCollisionResponse;
EventAction_BeforeCollisionResponse onCollision;
EventAction_AfterCollisionResponse onCollisionResponse;
EventAction_Move onMovement;
Octree *scene;
void *customTag;

20
Code/GamePhysics/Implementation/SphericalRigidBody.cpp
View File

@ -13,8 +13,8 @@ SphericalRigidBody::SphericalRigidBody()
this->rigid = RigidBody();
this->rigid.SetMass_KeepMomentum( 10.0f );
this->gravityNormal = Float3::null;
this->onCollision = Default::EventAction_Collision;
this->onCollisionResponse = Default::EventAction_CollisionResponse;
this->onCollision = Default::EventAction_BeforeCollisionResponse;
this->onCollisionResponse = Default::EventAction_AfterCollisionResponse;
this->onMovement = Default::EventAction_Move;
this->scene = nullptr;
this->customTag = nullptr;
@ -40,7 +40,7 @@ SphericalRigidBody::SphericalRigidBody( const API::SphericalBodyDescription &des
}
else
{
this->onCollision = Default::EventAction_Collision;
this->onCollision = Default::EventAction_BeforeCollisionResponse;
}
if( desc.subscription_onCollisionResponse )
@ -49,7 +49,7 @@ SphericalRigidBody::SphericalRigidBody( const API::SphericalBodyDescription &des
}
else
{
this->onCollisionResponse = Default::EventAction_CollisionResponse;
this->onCollisionResponse = Default::EventAction_AfterCollisionResponse;
}
if( desc.subscription_onMovement )
@ -128,12 +128,12 @@ void SphericalRigidBody::SetState( const SphericalRigidBody::State &state )
}
}
ICustomBody::SubscriptMessage SphericalRigidBody::CallSubscription_Collision( const ICustomBody *deuter )
ICustomBody::SubscriptMessage SphericalRigidBody::CallSubscription_BeforeCollisionResponse( const ICustomBody *deuter )
{
return this->onCollision( this, deuter );
}
void SphericalRigidBody::CallSubscription_CollisionResponse( const ICustomBody *deuter, Float kineticEnergyLoss )
void SphericalRigidBody::CallSubscription_AfterCollisionResponse( const ICustomBody *deuter, Float kineticEnergyLoss )
{
this->onCollisionResponse( this, deuter, kineticEnergyLoss);
}
@ -238,7 +238,7 @@ void SphericalRigidBody::Predict( ::Oyster::Math::Float4 &outDeltaPos, ::Oyster:
this->rigid.Predict_LeapFrog( outDeltaPos.xyz, outDeltaAxis.xyz, actingLinearImpulse.xyz, actingAngularImpulse.xyz, deltaTime );
}
void SphericalRigidBody::SetSubscription( ICustomBody::EventAction_Collision functionPointer )
void SphericalRigidBody::SetSubscription( ICustomBody::EventAction_BeforeCollisionResponse functionPointer )
{
if( functionPointer )
{
@ -246,11 +246,11 @@ void SphericalRigidBody::SetSubscription( ICustomBody::EventAction_Collision fun
}
else
{
this->onCollision = Default::EventAction_Collision;
this->onCollision = Default::EventAction_BeforeCollisionResponse;
}
}
void SphericalRigidBody::SetSubscription( ICustomBody::EventAction_CollisionResponse functionPointer )
void SphericalRigidBody::SetSubscription( ICustomBody::EventAction_AfterCollisionResponse functionPointer )
{
if( functionPointer )
{
@ -258,7 +258,7 @@ void SphericalRigidBody::SetSubscription( ICustomBody::EventAction_CollisionResp
}
else
{
this->onCollisionResponse = Default::EventAction_CollisionResponse;
this->onCollisionResponse = Default::EventAction_AfterCollisionResponse;
}
}

12
Code/GamePhysics/Implementation/SphericalRigidBody.h
View File

@ -22,8 +22,8 @@ namespace Oyster { namespace Physics
void SetState( const State &state );
//::Oyster::Math::Float3 GetRigidLinearVelocity() const;
SubscriptMessage CallSubscription_Collision( const ICustomBody *deuter );
void CallSubscription_CollisionResponse( const ICustomBody *deuter, ::Oyster::Math::Float kineticEnergyLoss );
SubscriptMessage CallSubscription_BeforeCollisionResponse( const ICustomBody *deuter );
void CallSubscription_AfterCollisionResponse( const ICustomBody *deuter, ::Oyster::Math::Float kineticEnergyLoss );
void CallSubscription_Move();
bool IsAffectedByGravity() const;
@ -45,8 +45,8 @@ namespace Oyster { namespace Physics
void SetScene( void *scene );
void SetSubscription( EventAction_Collision functionPointer );
void SetSubscription( EventAction_CollisionResponse functionPointer );
void SetSubscription( EventAction_BeforeCollisionResponse functionPointer );
void SetSubscription( EventAction_AfterCollisionResponse functionPointer );
void SetSubscription( EventAction_Move functionPointer );
void SetGravity( bool ignore);
@ -66,8 +66,8 @@ namespace Oyster { namespace Physics
::Oyster::Physics3D::RigidBody rigid;
::Oyster::Math::Float4 deltaPos, deltaAxis;
::Oyster::Math::Float3 gravityNormal;
EventAction_Collision onCollision;
EventAction_CollisionResponse onCollisionResponse;
EventAction_BeforeCollisionResponse onCollision;
EventAction_AfterCollisionResponse onCollisionResponse;
EventAction_Move onMovement;
Octree *scene;
void *customTag;

12
Code/GamePhysics/PhysicsAPI.h
View File

@ -244,8 +244,8 @@ namespace Oyster
SubscriptMessage_ignore_collision_response
};
typedef SubscriptMessage (*EventAction_Collision)( const ICustomBody *proto, const ICustomBody *deuter );
typedef void (*EventAction_CollisionResponse)( const ICustomBody *proto, const ICustomBody *deuter, ::Oyster::Math::Float kineticEnergyLoss );
typedef SubscriptMessage (*EventAction_BeforeCollisionResponse)( const ICustomBody *proto, const ICustomBody *deuter );
typedef void (*EventAction_AfterCollisionResponse)( const ICustomBody *proto, const ICustomBody *deuter, ::Oyster::Math::Float kineticEnergyLoss );
typedef void (*EventAction_Move)( const ICustomBody *object );
typedef Struct::SimpleBodyDescription SimpleBodyDescription;
typedef Struct::SphericalBodyDescription SphericalBodyDescription;
@ -262,12 +262,12 @@ namespace Oyster
/********************************************************
* @todo TODO: need doc
********************************************************/
virtual SubscriptMessage CallSubscription_Collision( const ICustomBody *deuter ) = 0;
virtual SubscriptMessage CallSubscription_BeforeCollisionResponse( const ICustomBody *deuter ) = 0;
/********************************************************
* @todo TODO: need doc
********************************************************/
virtual void CallSubscription_CollisionResponse( const ICustomBody *deuter, ::Oyster::Math::Float kineticEnergyLoss ) = 0;
virtual void CallSubscription_AfterCollisionResponse( const ICustomBody *deuter, ::Oyster::Math::Float kineticEnergyLoss ) = 0;
/********************************************************
* @todo TODO: need doc
@ -397,14 +397,14 @@ namespace Oyster
* whenever a collision occurs.
* @param functionPointer: If NULL, an empty default function will be set.
********************************************************/
virtual void SetSubscription( EventAction_Collision functionPointer ) = 0;
virtual void SetSubscription( EventAction_BeforeCollisionResponse functionPointer ) = 0;
/********************************************************
* Sets the function that will be called by the engine
* whenever a collision has finished.
* @param functionPointer: If NULL, an empty default function will be set.
********************************************************/
virtual void SetSubscription( EventAction_CollisionResponse functionPointer ) = 0;
virtual void SetSubscription( EventAction_AfterCollisionResponse functionPointer ) = 0;
/********************************************************
* Sets the function that will be called by the engine

8
Code/GamePhysics/PhysicsStructs.h
View File

@ -19,8 +19,8 @@ namespace Oyster { namespace Physics
::Oyster::Math::Float frictionCoeff_Static;
::Oyster::Math::Float frictionCoeff_Dynamic;
::Oyster::Physics3D::MomentOfInertia inertiaTensor;
::Oyster::Physics::ICustomBody::EventAction_Collision subscription_onCollision;
::Oyster::Physics::ICustomBody::EventAction_CollisionResponse subscription_onCollisionResponse;
::Oyster::Physics::ICustomBody::EventAction_BeforeCollisionResponse subscription_onCollision;
::Oyster::Physics::ICustomBody::EventAction_AfterCollisionResponse subscription_onCollisionResponse;
::Oyster::Physics::ICustomBody::EventAction_Move subscription_onMovement;
bool ignoreGravity;
@ -36,8 +36,8 @@ namespace Oyster { namespace Physics
::Oyster::Math::Float restitutionCoeff;
::Oyster::Math::Float frictionCoeff_Static;
::Oyster::Math::Float frictionCoeff_Dynamic;
::Oyster::Physics::ICustomBody::EventAction_Collision subscription_onCollision;
::Oyster::Physics::ICustomBody::EventAction_CollisionResponse subscription_onCollisionResponse;
::Oyster::Physics::ICustomBody::EventAction_BeforeCollisionResponse subscription_onCollision;
::Oyster::Physics::ICustomBody::EventAction_AfterCollisionResponse subscription_onCollisionResponse;
::Oyster::Physics::ICustomBody::EventAction_Move subscription_onMovement;
bool ignoreGravity;