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

This commit is contained in:
lindaandersson 2014-01-31 14:30:53 +01:00
parent 57c230d458 22d0722dfa
commit 26fed11910
8 changed files with 49 additions and 15 deletions
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Code/Dokumentation/Other/Slerp rotation axis towards new up normal.odt Normal file
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23
Code/GamePhysics/Implementation/PhysicsAPI_Impl.cpp
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@ -198,24 +198,27 @@ void API_Impl::Update()
proto = updateList.begin(); proto = updateList.begin();
for( ; proto != updateList.end(); ++proto ) for( ; proto != updateList.end(); ++proto )
{ {
Float3 lM = state.GetLinearMomentum() + state.GetLinearImpulse(); (*proto)->GetState( state );
Float3 lM = state.GetLinearMomentum();
if( lM.x < this->epsilon ) //LinearAlgebra3D::InterpolateAxisYToNormal_UsingNlerp(state.SetOrientation(, Float4(state.GetGravityNormal(), 0.0f), 1.0f);
if( abs(lM.x) < this->epsilon )
{ {
state.SetLinearMomentum( Float3(0, lM.y, lM.z) ); state.linearMomentum.x = 0;
state.SetLinearImpulse( Float3(0, lM.y, lM.z) );
} }
if( lM.y < this->epsilon ) if( abs(lM.y) < this->epsilon )
{ {
state.SetLinearMomentum( Float3(lM.x, 0, lM.z) ); state.linearMomentum.y = 0;
state.SetLinearImpulse( Float3(lM.x, 0, lM.z) );
} }
if( lM.z < this->epsilon ) if( abs(lM.z) < this->epsilon )
{ {
state.SetLinearMomentum( Float3(lM.x, lM.y, 0) ); state.linearMomentum.z = 0;
state.SetLinearImpulse( Float3(lM.x, lM.y, 0) );
} }
(*proto)->SetState( state );
switch( (*proto)->Update(this->updateFrameLength) ) switch( (*proto)->Update(this->updateFrameLength) )
{ {
case UpdateState_altered: case UpdateState_altered:

2
Code/GamePhysics/PhysicsAPI.h
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@ -34,7 +34,7 @@ namespace Oyster
namespace Constant namespace Constant
{ {
const float gravity_constant = (const float)6.67284e-11; //!< The _big_G_! ( N(m/kg)^2 ) Used in real gravityforcefields. const float gravity_constant = (const float)6.67284e-11; //!< The _big_G_! ( N(m/kg)^2 ) Used in real gravityforcefields.
const float epsilon = (const float)1.0e-7; const float epsilon = (const float)1.0e-3;
} }
class PHYSICS_DLL_USAGE API class PHYSICS_DLL_USAGE API

4
Code/GamePhysics/PhysicsStructs.h
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@ -115,11 +115,13 @@ namespace Oyster { namespace Physics
bool IsDisturbed() const; bool IsDisturbed() const;
bool IsForwarded() const; bool IsForwarded() const;
::Oyster::Math::Float3 linearMomentum;
private: private:
::Oyster::Math::Float mass, restitutionCoeff, staticFrictionCoeff, kineticFrictionCoeff; ::Oyster::Math::Float mass, restitutionCoeff, staticFrictionCoeff, kineticFrictionCoeff;
::Oyster::Physics3D::MomentOfInertia inertiaTensor; ::Oyster::Physics3D::MomentOfInertia inertiaTensor;
::Oyster::Math::Float3 reach, centerPos, angularAxis; ::Oyster::Math::Float3 reach, centerPos, angularAxis;
::Oyster::Math::Float3 linearMomentum, angularMomentum; ::Oyster::Math::Float3 angularMomentum;
::Oyster::Math::Float3 linearImpulse, angularImpulse; ::Oyster::Math::Float3 linearImpulse, angularImpulse;
::Oyster::Math::Float3 deltaPos, deltaAxis; // Forwarding data sum ::Oyster::Math::Float3 deltaPos, deltaAxis; // Forwarding data sum
::Oyster::Math::Float3 gravityNormal; ::Oyster::Math::Float3 gravityNormal;

23
Code/OysterMath/LinearMath.h
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@ -325,6 +325,12 @@ namespace LinearAlgebra2D
namespace LinearAlgebra3D namespace LinearAlgebra3D
{ {
template<typename ScalarType>
inline ::LinearAlgebra::Vector3<ScalarType> WorldAxisOf( const ::LinearAlgebra::Quaternion<ScalarType> &rotation, const ::LinearAlgebra::Vector3<ScalarType> &localAxis )
{
return (rotation*localAxis*rotation.GetConjugate()).imaginary;
}
// All Matrix to AngularAxis conversions here is incorrect // All Matrix to AngularAxis conversions here is incorrect
//template<typename ScalarType> //template<typename ScalarType>
//inline ::LinearAlgebra::Vector4<ScalarType> AngularAxis( const ::LinearAlgebra::Matrix3x3<ScalarType> &rotationMatrix ) //inline ::LinearAlgebra::Vector4<ScalarType> AngularAxis( const ::LinearAlgebra::Matrix3x3<ScalarType> &rotationMatrix )
@ -741,6 +747,23 @@ namespace LinearAlgebra3D
inline ::LinearAlgebra::Vector4<ScalarType> NormalProjection( const ::LinearAlgebra::Vector4<ScalarType> &vector, const ::LinearAlgebra::Vector4<ScalarType> &normalizedAxis ) inline ::LinearAlgebra::Vector4<ScalarType> NormalProjection( const ::LinearAlgebra::Vector4<ScalarType> &vector, const ::LinearAlgebra::Vector4<ScalarType> &normalizedAxis )
{ return normalizedAxis * ( vector.Dot(normalizedAxis) ); } { return normalizedAxis * ( vector.Dot(normalizedAxis) ); }
template<typename ScalarType>
::LinearAlgebra::Vector4<ScalarType> & SnapAngularAxis( ::LinearAlgebra::Vector4<ScalarType> &startAngularAxis, const ::LinearAlgebra::Vector4<ScalarType> &localStartNormal, const ::LinearAlgebra::Vector4<ScalarType> &worldEndNormal, ::LinearAlgebra::Vector4<ScalarType> &targetMem = ::LinearAlgebra::Vector4<ScalarType>() )
{
::LinearAlgebra::Vector4<ScalarType> worldStartNormal( WorldAxisOf(Rotation(startAngularAxis.xyz), localStartNormal), (ScalarType)0 );
targetMem = ::LinearAlgebra::Vector4<ScalarType>( worldStartNormal.xyz.Cross(worldEndNormal.xyz), (ScalarType)0);
targetMem *= (ScalarType)::std::acos( worldStartNormal.Dot(worldEndNormal) );
return targetMem += startAngularAxis;
}
template<typename ScalarType>
::LinearAlgebra::Vector3<ScalarType> & SnapAngularAxis( ::LinearAlgebra::Vector3<ScalarType> &startAngularAxis, const ::LinearAlgebra::Vector3<ScalarType> &localStartNormal, const ::LinearAlgebra::Vector3<ScalarType> &worldEndNormal, ::LinearAlgebra::Vector3<ScalarType> &targetMem = ::LinearAlgebra::Vector3<ScalarType>() )
{
return targetMem = SnapAngularAxis( ::LinearAlgebra::Vector4<ScalarType>(startAngularAxis, (ScalarType)0),
::LinearAlgebra::Vector4<ScalarType>(localStartNormal, (ScalarType)0),
::LinearAlgebra::Vector4<ScalarType>(worldEndNormal, (ScalarType)0) ).xyz;
}
template<typename ScalarType> template<typename ScalarType>
::LinearAlgebra::Matrix4x4<ScalarType> & SnapAxisYToNormal_UsingNlerp( ::LinearAlgebra::Matrix4x4<ScalarType> &rotation, const ::LinearAlgebra::Vector4<ScalarType> &normalizedAxis ) ::LinearAlgebra::Matrix4x4<ScalarType> & SnapAxisYToNormal_UsingNlerp( ::LinearAlgebra::Matrix4x4<ScalarType> &rotation, const ::LinearAlgebra::Vector4<ScalarType> &normalizedAxis )
{ {

1
Code/OysterMath/OysterMath.h
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@ -324,6 +324,7 @@ namespace Oyster { namespace Math3D //! Oyster's native math library specialized
using ::LinearAlgebra3D::InterpolateAxisYToNormal_UsingNlerp; using ::LinearAlgebra3D::InterpolateAxisYToNormal_UsingNlerp;
using ::LinearAlgebra3D::InterpolateOrientation_UsingNonRigidNlerp; using ::LinearAlgebra3D::InterpolateOrientation_UsingNonRigidNlerp;
using ::LinearAlgebra3D::InterpolateOrientation_UsingSlerp; using ::LinearAlgebra3D::InterpolateOrientation_UsingSlerp;
using ::LinearAlgebra3D::SnapAngularAxis;
} } } }
#endif #endif

4
Code/OysterPhysics3D/OysterCollision3D.cpp
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@ -784,8 +784,8 @@ namespace Oyster { namespace Collision3D { namespace Utility
if( Intersect(box, sphere) ) if( Intersect(box, sphere) )
{ {
Float distance; Float distance;
Ray ray( box.center, sphere.center - box.center ); Ray ray( box.center, (sphere.center - box.center).Normalize() );
Intersect( sphere, ray, distance ); Intersect( sphere, ray, distance );
worldPointOfContact = ray.origin + ray.direction*distance; worldPointOfContact = ray.origin + ray.direction*distance;
return true; return true;

7
Code/OysterPhysics3D/RigidBody.cpp
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@ -50,7 +50,12 @@ void RigidBody::Update_LeapFrog( Float updateFrameLength )
// 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
this->centerPos += ( updateFrameLength / this->mass ) * AverageWithDelta( this->momentum_Linear, this->impulse_Linear ); Float3 deltaPos = ( updateFrameLength / this->mass ) * AverageWithDelta( this->momentum_Linear, this->impulse_Linear );
if( deltaPos.GetLength() < 0.001f )
{
deltaPos = Float3::null;
}
this->centerPos += deltaPos;
// updating the angular // updating the angular
// dO = dt * Formula::AngularVelocity( (RI)^-1, avg_H ) = dt * (RI)^-1 * avg_H // dO = dt * Formula::AngularVelocity( (RI)^-1, avg_H ) = dt * (RI)^-1 * avg_H