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Dans fix part of RigidBody.cpp DONE

This commit is contained in:
Dander7BD 2013-11-20 11:44:54 +01:00
parent e41d16cc03
commit 2149ca8ab5
1 changed files with 23 additions and 39 deletions
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62
Code/OysterPhysics3D/RigidBody.cpp
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@ -80,68 +80,56 @@ void RigidBody::Update_LeapFrog( Float deltaTime )
this->impulseTorqueSum = Float3::null; this->impulseTorqueSum = Float3::null;
} }
void RigidBody::ApplyImpulseForce( const Float3 &f ) void RigidBody::ApplyImpulseForce( const Float3 &worldF )
{ // by Dan Andersson { // by Dan Andersson
this->impulseForceSum += f; this->impulseForceSum += worldF;
} }
void RigidBody::ApplyImpulseForceAt_Local( const Float3 &localForce, const Float3 &localOffset ) void RigidBody::ApplyImpulseForceAt( const Float3 &worldF, const Float3 &worldPos )
{ // by Dan Andersson { // by Dan Andersson
if( localOffset != Float3::null ) Float3 worldOffset = worldPos - this->box.center;
if( worldOffset != Float3::null )
{ {
this->impulseForceSum += VectorProjection( localForce, localOffset ); this->impulseForceSum += VectorProjection( worldF, worldOffset );
this->impulseTorqueSum += Formula::ImpulseTorque( localForce, localOffset ); this->impulseTorqueSum += Formula::ImpulseTorque( worldF, worldOffset );
} }
else else
{ {
this->impulseForceSum += localForce; this->impulseForceSum += worldF;
} }
} }
void RigidBody::ApplyImpulseForceAt_World( const Float3 &worldForce, const Float3 &worldPos ) void RigidBody::ApplyLinearImpulseAcceleration( const Float3 &worldA )
{ // by Dan Andersson { // by Dan Andersson
Float4x4 view = this->GetView(); this->impulseForceSum += Formula::ImpulseForce( this->mass, worldA );
this->ApplyImpulseForceAt_Local( (view * Float4(worldForce, 0.0f)).xyz,
(view * Float4(worldPos, 1.0f)).xyz ); // should not be any disform thus result.w = 1.0f
} }
void RigidBody::ApplyLinearImpulseAcceleration( const Float3 &a ) void RigidBody::ApplyLinearImpulseAccelerationAt( const Float3 &worldA, const Float3 &worldPos )
{ // by Dan Andersson { // by Dan Andersson
this->impulseForceSum += Formula::ImpulseForce( this->mass, a ); Float3 worldOffset = worldPos - this->box.center;
} if( worldOffset != Float3::null )
void RigidBody::ApplyLinearImpulseAccelerationAt_Local( const Float3 &localImpulseLinearAcc, const Float3 &localOffset )
{ // by Dan Andersson
if( localOffset != Float3::null )
{ {
this->impulseForceSum += Formula::ImpulseForce( this->mass, VectorProjection(localImpulseLinearAcc, localOffset) ); this->impulseForceSum += Formula::ImpulseForce( this->mass, VectorProjection(worldA, worldOffset) );
// tanAcc = angularAcc x localPosition // tanAcc = angularAcc x localPosition
// angularAcc = localPosition x tanAcc = localPosition x linearAcc // angularAcc = localPosition x tanAcc = localPosition x linearAcc
// T = I * angularAcc // T = I * angularAcc
this->impulseTorqueSum += Formula::ImpulseTorque( this->momentOfInertiaTensor, Formula::AngularImpulseAcceleration(localImpulseLinearAcc, localOffset) ); this->impulseTorqueSum += Formula::ImpulseTorque( this->momentOfInertiaTensor, Formula::AngularImpulseAcceleration(worldA, worldOffset) );
} }
else else
{ {
this->impulseForceSum += Formula::ImpulseForce( this->mass, localImpulseLinearAcc ); this->impulseForceSum += Formula::ImpulseForce( this->mass, worldA );
} }
} }
void RigidBody::ApplyLinearImpulseAccelerationAt_World( const Float3 &worldImpulseLinearAcc, const Float3 &worldPos ) void RigidBody::ApplyImpulseTorque( const Float3 &worldT )
{ // by Dan Andersson { // by Dan Andersson
Float4x4 view = this->GetView(); this->impulseTorqueSum += worldT;
this->ApplyLinearImpulseAccelerationAt_Local( (view * Float4(worldImpulseLinearAcc, 0.0f)).xyz,
(view * Float4(worldPos, 1.0f)).xyz ); // should not be any disform thus result.w = 1.0f
} }
void RigidBody::ApplyImpulseTorque( const Float3 &t ) void RigidBody::ApplyAngularImpulseAcceleration( const Float3 &worldA )
{ // by Dan Andersson { // by Dan Andersson
this->impulseTorqueSum += t; this->impulseTorqueSum += Formula::ImpulseTorque( this->momentOfInertiaTensor, worldA );
}
void RigidBody::ApplyAngularImpulseAcceleration( const Float3 &a )
{ // by Dan Andersson
this->impulseTorqueSum += Formula::ImpulseTorque( this->momentOfInertiaTensor, a );
} }
Float4x4 & RigidBody::AccessOrientation() Float4x4 & RigidBody::AccessOrientation()
@ -249,14 +237,10 @@ Float3 RigidBody::GetLinearVelocity() const
return Formula::LinearVelocity( this->mass, this->linearMomentum ); return Formula::LinearVelocity( this->mass, this->linearMomentum );
} }
Float3 RigidBody::GetTangentialImpulseForceAt_Local( const Float3 &localPos ) const Float3 RigidBody::GetTangentialImpulseForceAt( const Float3 &worldPos ) const
{ // by Dan Andersson { // by Dan Andersson
return Formula::TangentialImpulseForce( this->impulseTorqueSum, localPos ); Float3 worldOffset = worldPos - this->box.center;
} return Formula::TangentialImpulseForce( this->impulseTorqueSum, worldOffset );
Float3 RigidBody::GetTangentialImpulseForceAt_World( const Float3 &worldPos ) const
{ // by Dan Andersson
return this->GetTangentialImpulseForceAt_Local( (this->GetView() * Float4(worldPos, 1.0f)).xyz ); // should not be any disform thus result.w = 1.0f
} }
// Dan // Dan