Added basic functionality for container

Code/GamePhysics/GamePhysics.vcxproj

@@ -152,13 +152,15 @@
     <ClInclude Include="Implementation\Octree.h" />
     <ClInclude Include="Implementation\PhysicsAPI_Impl.h" />
     <ClInclude Include="Implementation\SimpleRigidBody.h" />
+    <ClInclude Include="Implementation\SphericalRigidBody.h" />
     <ClInclude Include="PhysicsAPI.h" />
   </ItemGroup>
   <ItemGroup>
     <ClCompile Include="Implementation\Octree.cpp" />
+    <ClCompile Include="Implementation\DLLMain.cpp" />
     <ClCompile Include="Implementation\PhysicsAPI_Impl.cpp" />
     <ClCompile Include="Implementation\SimpleRigidBody.cpp" />
-    <ClCompile Include="DLLMain.cpp" />
+    <ClCompile Include="Implementation\SphericalRigidBody.cpp" />
   </ItemGroup>
   <Import Project="$(VCTargetsPath)\Microsoft.Cpp.targets" />
   <ImportGroup Label="ExtensionTargets">

Code/GamePhysics/GamePhysics.vcxproj.filters

@@ -30,6 +30,9 @@
     <ClInclude Include="Implementation\SimpleRigidBody.h">
       <Filter>Header Files\Implementation</Filter>
     </ClInclude>
+    <ClInclude Include="Implementation\SphericalRigidBody.h">
+      <Filter>Header Files\Implementation</Filter>
+    </ClInclude>
     <ClInclude Include="Implementation\Octree.h">
       <Filter>Header Files\Implementation</Filter>
     </ClInclude>
@@ -41,7 +44,10 @@
     <ClCompile Include="Implementation\SimpleRigidBody.cpp">
       <Filter>Source Files</Filter>
     </ClCompile>
-    <ClCompile Include="DLLMain.cpp">
+    <ClCompile Include="Implementation\DLLMain.cpp">
+      <Filter>Source Files</Filter>
+    </ClCompile>
+    <ClCompile Include="Implementation\SphericalRigidBody.cpp">
       <Filter>Source Files</Filter>
     </ClCompile>
     <ClCompile Include="Implementation\Octree.cpp">

Code/GamePhysics/Implementation/PhysicsAPI_Impl.cpp

@@ -10,14 +10,6 @@ using namespace ::Utility::DynamicMemory;
 
 API_Impl API_instance;
 
-// default API::EventAction_Collision
-void defaultCollisionAction( const ICustomBody *proto, const ICustomBody *deuter )
-{ /* do nothing */ }
-
-// default API::EventAction_Destruction
-void defaultDestructionAction( UniquePointer<ICustomBody> proto )
-{ /* do nothing besides proto auto deleting itself. */ }
-
 Float4x4 & MomentOfInertia::CreateSphereMatrix( const Float mass, const Float radius)
 {
 	return Formula::MomentOfInertia::Sphere(mass, radius);
@@ -51,27 +43,36 @@ API & API::Instance()
 API_Impl::API_Impl()
 	: gravityConstant( Constant::gravity_constant ),
 	  updateFrameLength( 1.0f / 120.0f ),
-	  collisionAction( defaultCollisionAction ),
+	  destructionAction( Default::EventAction_Destruction )
-	  destructionAction( defaultDestructionAction )
 {}
 
 API_Impl::~API_Impl() {}
 
+void API_Impl::Init( unsigned int numObjects, unsigned int numGravityWells , const Float3 &worldSize )
+{
+	//! @todo TODO: implement stub
+}
+
 void API_Impl::SetDeltaTime( float deltaTime )
 {
 	updateFrameLength = deltaTime;
 }
+
 void API_Impl::SetGravityConstant( float g )
 {
 	this->gravityConstant = g;
 }
-void API_Impl::SetAction( API::EventAction_Collision functionPointer )
+
+void API_Impl::SetSubscription( API::EventAction_Destruction functionPointer )
 {
-	this->collisionAction = functionPointer;
+	if( functionPointer )
-}
+	{
-void API_Impl::SetAction( API::EventAction_Destruction functionPointer )
+		this->destructionAction = functionPointer;
-{
+	}
-	this->destructionAction = functionPointer;
+	else
+	{
+		this->destructionAction = Default::EventAction_Destruction;
+	}
 }
 
 void API_Impl::Update()
@@ -155,7 +156,25 @@ void API_Impl::SetOrientation( const ICustomBody* objRef, const Float4x4 &orient
 	//! @todo TODO: implement stub
 }
 
+void API_Impl::SetSize( const ICustomBody* objRef, const Float3 &size )
+{
+	//! @todo TODO: implement stub
+}
+
 UniquePointer<ICustomBody> API_Impl::CreateSimpleRigidBody() const
 {
 	return new SimpleRigidBody();
-}
+}
+
+namespace Oyster { namespace Physics { namespace Default
+{
+
+	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 )
+	{ /* Do nothing except returning business as usual. */
+		return ::Oyster::Physics::ICustomBody::SubscriptMessage_none;
+	}
+
+} } }

Code/GamePhysics/Implementation/PhysicsAPI_Impl.h

@@ -13,10 +13,11 @@ namespace Oyster
 			API_Impl();
 			virtual ~API_Impl();
 
+			void Init( unsigned int numObjects, unsigned int numGravityWells , const ::Oyster::Math::Float3 &worldSize );
+
 			void SetDeltaTime( float deltaTime );
 			void SetGravityConstant( float g );
-			void SetAction( EventAction_Collision functionPointer );
+			void SetSubscription( EventAction_Destruction functionPointer );
-			void SetAction( EventAction_Destruction functionPointer );
 
 			void Update();
 
@@ -38,15 +39,20 @@ namespace Oyster
 			void SetCenter( const ICustomBody* objRef, const ::Oyster::Math::Float3 &worldPos );
 			void SetRotation( const ICustomBody* objRef, const ::Oyster::Math::Float4x4 &rotation );
 			void SetOrientation( const ICustomBody* objRef, const ::Oyster::Math::Float4x4 &orientation );
+			void SetSize( const ICustomBody* objRef, const ::Oyster::Math::Float3 &size );
 
 			::Utility::DynamicMemory::UniquePointer<ICustomBody> CreateSimpleRigidBody() const;
 		private:
 			::Oyster::Math::Float gravityConstant, updateFrameLength;
-			EventAction_Collision collisionAction;
 			EventAction_Destruction destructionAction;
 		};
-	}
 
+		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 );
+		}
+	}
 }
 
 #endif

Code/GamePhysics/Implementation/SimpleRigidBody.cpp

@@ -7,7 +7,11 @@ using namespace ::Oyster::Collision3D;
 using namespace ::Utility::DynamicMemory;
 using namespace ::Utility::Value;
 
-SimpleRigidBody::SimpleRigidBody() : previous(), current() {}
+SimpleRigidBody::SimpleRigidBody()
+	: previous(), current(),
+	  gravityNormal(0.0f),
+	  collisionAction(Default::EventAction_Collision),
+	  ignoreGravity(false) {}
 
 SimpleRigidBody::~SimpleRigidBody() {}
 
@@ -16,9 +20,9 @@ UniquePointer<ICustomBody> SimpleRigidBody::Clone() const
 	return new SimpleRigidBody( *this );
 }
 
-bool SimpleRigidBody::IsSubscribingCollisions() const
+bool SimpleRigidBody::IsAffectedByGravity() const
-{ // Assumption
+{
-	return true;
+	return !this->ignoreGravity;
 }
 
 bool SimpleRigidBody::Intersects( const ICustomBody &object, Float timeStepLength, Float &deltaWhen, Float3 &worldPointOfContact ) const
@@ -51,6 +55,11 @@ Float3 & SimpleRigidBody::GetNormalAt( const Float3 &worldPos, Float3 &targetMem
 	return targetMem = (worldPos - this->current.box.center).GetNormalized();
 }
 
+Float3 & SimpleRigidBody::GetGravityNormal( Float3 &targetMem ) const
+{
+	return targetMem = this->gravityNormal;	
+}
+
 Float3 & SimpleRigidBody::GetCenter( Float3 &targetMem ) const
 {
 	return targetMem = this->current.box.center;
@@ -78,7 +87,30 @@ UpdateState SimpleRigidBody::Update( Float timeStepLength )
 	this->current.Update_LeapFrog( timeStepLength );
 
 	// compare previous and new state and return result
-	return this->current == this->previous ? resting : altered;
+	return this->current == this->previous ? UpdateState_resting : UpdateState_altered;
+}
+
+void SimpleRigidBody::SetSubscription( ICustomBody::EventAction_Collision functionPointer )
+{
+	if( functionPointer )
+	{
+		this->collisionAction = functionPointer;
+	}
+	else
+	{
+		this->collisionAction = Default::EventAction_Collision;
+	}
+}
+
+void SimpleRigidBody::SetGravity( bool ignore)
+{
+	this->ignoreGravity = ignore;
+	this->gravityNormal = Float3::null;
+}
+
+void SimpleRigidBody::SetGravityNormal( const Float3 &normalizedVector )
+{
+	this->gravityNormal = normalizedVector;
 }
 
 void SimpleRigidBody::SetMomentOfInertiaTensor_KeepVelocity( const Float4x4 &localI )
@@ -114,4 +146,9 @@ void SimpleRigidBody::SetRotation( const Float4x4 &rotation )
 void SimpleRigidBody::SetOrientation( const Float4x4 &orientation )
 {
 	this->current.SetOrientation( orientation );
+}
+
+void SimpleRigidBody::SetSize( const Float3 &size )
+{
+	this->current.SetSize( size );
 }

Code/GamePhysics/Implementation/SimpleRigidBody.h

@@ -14,12 +14,13 @@ namespace Oyster { namespace Physics
 
 		::Utility::DynamicMemory::UniquePointer<ICustomBody> Clone() const;
 		
-		bool IsSubscribingCollisions() const;
+		bool IsAffectedByGravity() const;
 		bool Intersects( const ICustomBody &object, ::Oyster::Math::Float timeStepLength, ::Oyster::Math::Float &deltaWhen, ::Oyster::Math::Float3 &worldPointOfContact ) const;
 		bool Intersects( const ::Oyster::Collision3D::ICollideable &shape ) const;
 
 		::Oyster::Collision3D::Sphere &	GetBoundingSphere( ::Oyster::Collision3D::Sphere &targetMem = ::Oyster::Collision3D::Sphere() ) const;
 		::Oyster::Math::Float3 &		GetNormalAt( const ::Oyster::Math::Float3 &worldPos, ::Oyster::Math::Float3 &targetMem = ::Oyster::Math::Float3() ) const;
+		::Oyster::Math::Float3 &		GetGravityNormal( ::Oyster::Math::Float3 &targetMem = ::Oyster::Math::Float3() ) const;
 		::Oyster::Math::Float3 &		GetCenter( ::Oyster::Math::Float3 &targetMem = ::Oyster::Math::Float3() ) const;
 		::Oyster::Math::Float4x4 &		GetRotation( ::Oyster::Math::Float4x4 &targetMem = ::Oyster::Math::Float4x4() ) const;
 		::Oyster::Math::Float4x4 &		GetOrientation( ::Oyster::Math::Float4x4 &targetMem = ::Oyster::Math::Float4x4() ) const;
@@ -27,6 +28,9 @@ namespace Oyster { namespace Physics
 
 		UpdateState Update( ::Oyster::Math::Float timeStepLength );
 
+		void SetSubscription( EventAction_Collision functionPointer );
+		void SetGravity( bool ignore);
+		void SetGravityNormal( const ::Oyster::Math::Float3 &normalizedVector );
 		void SetMomentOfInertiaTensor_KeepVelocity( const ::Oyster::Math::Float4x4 &localI );
 		void SetMomentOfInertiaTensor_KeepMomentum( const ::Oyster::Math::Float4x4 &localI );
 		void SetMass_KeepVelocity( ::Oyster::Math::Float m );
@@ -34,9 +38,13 @@ namespace Oyster { namespace Physics
 		void SetCenter( const ::Oyster::Math::Float3 &worldPos );
 		void SetRotation( const ::Oyster::Math::Float4x4 &rotation );
 		void SetOrientation( const ::Oyster::Math::Float4x4 &orientation );
+		void SetSize( const ::Oyster::Math::Float3 &size );
 
 	private:
 		::Oyster::Physics3D::RigidBody previous, current;
+		::Oyster::Math::Float3 gravityNormal;
+		EventAction_Collision collisionAction;
+		bool ignoreGravity;
 	};
 } }
 

Code/GamePhysics/Implementation/SphericalRigidBody.cpp

@@ -0,0 +1,159 @@
+#include "SphericalRigidBody.h"
+#include "PhysicsAPI_Impl.h"
+
+using namespace ::Oyster::Physics;
+using namespace ::Oyster::Math3D;
+using namespace ::Oyster::Collision3D;
+using namespace ::Utility::DynamicMemory;
+using namespace ::Utility::Value;
+
+SphericalRigidBody::SphericalRigidBody()
+	: previous(), current( Box(Float4x4::identity, Float3::null, Float3(1.0f)) ),
+	  gravityNormal( 0.0f ),
+	  collisionAction(Default::EventAction_Collision),
+	  ignoreGravity( false ),
+	  body( Float3::null, 0.5f ) {}
+
+SphericalRigidBody::~SphericalRigidBody() {}
+
+UniquePointer<ICustomBody> SphericalRigidBody::Clone() const	
+{
+	return new SphericalRigidBody( *this );
+}
+
+bool SphericalRigidBody::IsAffectedByGravity() const
+{
+	return !this->ignoreGravity;
+}
+
+bool SphericalRigidBody::Intersects( const ICustomBody &object, Float timeStepLength, Float &deltaWhen, Float3 &worldPointOfContact ) const
+{
+	if( object.Intersects(this->body) )
+	{ //! @todo TODO: better implementation needed
+		deltaWhen = timeStepLength;
+		worldPointOfContact = Average( this->body.center, object.GetCenter() );
+		return true;
+	}
+	else
+	{
+		return false;
+	}
+}
+
+bool SphericalRigidBody::Intersects( const ICollideable &shape ) const
+{
+	return this->current.box.Intersects( shape );
+}
+
+Sphere & SphericalRigidBody::GetBoundingSphere( Sphere &targetMem ) const
+{
+	return targetMem = this->body;
+}
+
+Float3 & SphericalRigidBody::GetNormalAt( const Float3 &worldPos, Float3 &targetMem ) const
+{
+	//! @todo TODO: better implementation needed
+	return targetMem = (worldPos - this->current.box.center).GetNormalized();
+}
+
+Float3 & SphericalRigidBody::GetGravityNormal( Float3 &targetMem ) const
+{
+	return targetMem = this->gravityNormal;	
+}
+
+Float3 & SphericalRigidBody::GetCenter( Float3 &targetMem ) const
+{
+	return targetMem = this->current.box.center;
+}
+
+Float4x4 & SphericalRigidBody::GetRotation( Float4x4 &targetMem ) const
+{
+	return targetMem = this->current.box.rotation;
+}
+
+Float4x4 & SphericalRigidBody::GetOrientation( Float4x4 &targetMem ) const
+{
+	return targetMem = this->current.GetOrientation();
+}
+
+Float4x4 & SphericalRigidBody::GetView( Float4x4 &targetMem ) const
+{
+	return targetMem = this->current.GetView();
+}
+
+UpdateState SphericalRigidBody::Update( Float timeStepLength )
+{
+	this->previous = this->current; // memorizing the old state
+
+	this->current.Update_LeapFrog( timeStepLength );
+	this->body.center = this->current.GetCenter();
+
+	// compare previous and new state and return result
+	return this->current == this->previous ? UpdateState_resting : UpdateState_altered;
+}
+
+void SphericalRigidBody::SetSubscription( ICustomBody::EventAction_Collision functionPointer )
+{
+	if( functionPointer )
+	{
+		this->collisionAction = functionPointer;
+	}
+	else
+	{
+		this->collisionAction = Default::EventAction_Collision;
+	}
+}
+
+void SphericalRigidBody::SetGravity( bool ignore)
+{
+	this->ignoreGravity = ignore;
+	this->gravityNormal = Float3::null;
+}
+
+void SphericalRigidBody::SetGravityNormal( const Float3 &normalizedVector )
+{
+	this->gravityNormal = normalizedVector;
+}
+
+void SphericalRigidBody::SetMomentOfInertiaTensor_KeepVelocity( const Float4x4 &localI )
+{
+	this->current.SetMomentOfInertia_KeepVelocity( localI );
+}
+
+void SphericalRigidBody::SetMomentOfInertiaTensor_KeepMomentum( const Float4x4 &localI )
+{
+	this->current.SetMomentOfInertia_KeepMomentum( localI );
+}
+
+void SphericalRigidBody::SetMass_KeepVelocity( Float m )
+{
+	this->current.SetMass_KeepVelocity( m );
+}
+
+void SphericalRigidBody::SetMass_KeepMomentum( Float m )
+{
+	this->current.SetMass_KeepMomentum( m );
+}
+
+void SphericalRigidBody::SetCenter( const Float3 &worldPos )
+{
+	this->current.SetCenter( worldPos );
+	this->body.center = worldPos;
+}
+
+void SphericalRigidBody::SetRotation( const Float4x4 &rotation )
+{
+	this->current.SetRotation( rotation );
+}
+
+void SphericalRigidBody::SetOrientation( const Float4x4 &orientation )
+{
+	this->current.SetOrientation( orientation );
+	this->body.center = orientation.v[3].xyz;
+}
+
+void SphericalRigidBody::SetSize( const Float3 &size )
+{
+	this->current.SetSize( size );
+	this->body.radius = 0.5f * Min( Min( size.x, size.y ), size.z ); // inline Min( FloatN )?
+}

Code/GamePhysics/Implementation/SphericalRigidBody.h

@@ -0,0 +1,54 @@
+#ifndef OYSTER_PHYSICS_SPHERICAL_RIGIDBODY_H
+#define OYSTER_PHYSICS_SPHERICAL_RIGIDBODY_H
+
+#include "..\PhysicsAPI.h"
+#include "RigidBody.h"
+#include "Sphere.h"
+
+namespace Oyster { namespace Physics
+{
+	class SphericalRigidBody : public ICustomBody
+	{
+	public:
+		SphericalRigidBody();
+		virtual ~SphericalRigidBody();
+
+		::Utility::DynamicMemory::UniquePointer<ICustomBody> Clone() const;
+		
+		bool IsSubscribingCollisions() const;
+		bool IsAffectedByGravity() const;
+		bool Intersects( const ICustomBody &object, ::Oyster::Math::Float timeStepLength, ::Oyster::Math::Float &deltaWhen, ::Oyster::Math::Float3 &worldPointOfContact ) const;
+		bool Intersects( const ::Oyster::Collision3D::ICollideable &shape ) const;
+
+		::Oyster::Collision3D::Sphere &	GetBoundingSphere( ::Oyster::Collision3D::Sphere &targetMem = ::Oyster::Collision3D::Sphere() ) const;
+		::Oyster::Math::Float3 &		GetNormalAt( const ::Oyster::Math::Float3 &worldPos, ::Oyster::Math::Float3 &targetMem = ::Oyster::Math::Float3() ) const;
+		::Oyster::Math::Float3 &		GetGravityNormal( ::Oyster::Math::Float3 &targetMem = ::Oyster::Math::Float3() ) const;
+		::Oyster::Math::Float3 &		GetCenter( ::Oyster::Math::Float3 &targetMem = ::Oyster::Math::Float3() ) const;
+		::Oyster::Math::Float4x4 &		GetRotation( ::Oyster::Math::Float4x4 &targetMem = ::Oyster::Math::Float4x4() ) const;
+		::Oyster::Math::Float4x4 &		GetOrientation( ::Oyster::Math::Float4x4 &targetMem = ::Oyster::Math::Float4x4() ) const;
+		::Oyster::Math::Float4x4 &		GetView( ::Oyster::Math::Float4x4 &targetMem = ::Oyster::Math::Float4x4() ) const;
+
+		UpdateState Update( ::Oyster::Math::Float timeStepLength );
+
+		void SetSubscription( EventAction_Collision functionPointer );
+		void SetGravity( bool ignore);
+		void SetGravityNormal( const ::Oyster::Math::Float3 &normalizedVector );
+		void SetMomentOfInertiaTensor_KeepVelocity( const ::Oyster::Math::Float4x4 &localI );
+		void SetMomentOfInertiaTensor_KeepMomentum( const ::Oyster::Math::Float4x4 &localI );
+		void SetMass_KeepVelocity( ::Oyster::Math::Float m );
+		void SetMass_KeepMomentum( ::Oyster::Math::Float m );
+		void SetCenter( const ::Oyster::Math::Float3 &worldPos );
+		void SetRotation( const ::Oyster::Math::Float4x4 &rotation );
+		void SetOrientation( const ::Oyster::Math::Float4x4 &orientation );
+		void SetSize( const ::Oyster::Math::Float3 &size );
+
+	private:
+		::Oyster::Physics3D::RigidBody previous, current;
+		::Oyster::Math::Float3 gravityNormal;
+		EventAction_Collision collisionAction;
+		bool ignoreGravity;
+		::Oyster::Collision3D::Sphere body;
+	};
+} }
+
+#endif

Code/GamePhysics/PhysicsAPI.h

@@ -19,8 +19,8 @@ namespace Oyster
 
 		enum UpdateState
 		{
-			resting,
+			UpdateState_resting,
-			altered
+			UpdateState_altered
 		};
 
 		namespace Constant
@@ -45,12 +45,19 @@ namespace Oyster
 		class PHYSICS_DLL_USAGE API
 		{
 		public:
-			typedef void (*EventAction_Collision)( const ICustomBody *proto, const ICustomBody *deuter );
 			typedef void (*EventAction_Destruction)( ::Utility::DynamicMemory::UniquePointer<ICustomBody> proto );
 
 			/** Gets the Physics instance. */
 			static API & Instance();
 
+			/********************************************************
+			 * Clears all content and reset Engine assetts such as buffers.
+			 * @param numObjects: The predicted max number of active objects.
+			 * @param numGravityWells: The predicted max number of active gravity wells.
+			 * @param worldSize: The size of acceptable physics space.
+			 ********************************************************/
+			virtual void Init( unsigned int numObjects, unsigned int numGravityWells , const ::Oyster::Math::Float3 &worldSize ) = 0;
+
 			/********************************************************
 			 * Sets the time length of each physics update frame.
 			 ********************************************************/
@@ -62,20 +69,15 @@ namespace Oyster
 			 * @param g: Default is the real world Constant::gravity_constant [N(m/kg)^2]
 			 ********************************************************/
 			virtual void SetGravityConstant( float g ) = 0;
-
-			/********************************************************
-			 * Sets the function that will be called by the engine
-			 * whenever a subscribed collision occurs.
-			 ********************************************************/
-			virtual void SetAction( EventAction_Collision functionPointer ) = 0;
 			
 			/********************************************************
 			 * Sets the function that will be called by the engine
 			 * whenever an object is being destroyed for some reason.
 			 * - Because DestroyObject(...) were called.
 			 * - Out of memory forced engine to destroy an object.
+			 * @param functionPointer: If NULL, an empty default function will be set.
 			 ********************************************************/
-			virtual void SetAction( EventAction_Destruction functionPointer ) = 0;
+			virtual void SetSubscription( EventAction_Destruction functionPointer ) = 0;
 
 			/********************************************************
 			 * Triggers the engine to run next update frame.
@@ -133,7 +135,7 @@ namespace Oyster
 			 * @param worldF: Vector with the direction and magnitude of the force. [N]
 			 ********************************************************/
 			virtual void ApplyForceAt( const ICustomBody* objRef, const ::Oyster::Math::Float3 &worldPos, const ::Oyster::Math::Float3 &worldF ) = 0;
-			
+
 			/********************************************************
 			 * Apply force on an object.
 			 * @param objRefA: A pointer to the ICustomBody representing a physical object.
@@ -196,6 +198,13 @@ namespace Oyster
 			 ********************************************************/
 			virtual void SetOrientation( const ICustomBody* objRef, const ::Oyster::Math::Float4x4 &orientation ) = 0;
 			
+			/********************************************************
+			 * Resizes the boundingBox.
+			 * @param objRef: A pointer to the ICustomBody representing a physical object.
+			 * @param size: New size of this [m]
+			 ********************************************************/
+			virtual void SetSize( const ICustomBody* objRef, const ::Oyster::Math::Float3 &size ) = 0;
+
 			/********************************************************
 			 * Creates a new dynamically allocated object that can be used as a component for more complex ICustomBodies.
 			 * @return A pointer along with the responsibility to delete.
@@ -210,6 +219,14 @@ namespace Oyster
 		class PHYSICS_DLL_USAGE ICustomBody
 		{
 		public:
+			enum SubscriptMessage
+			{
+				SubscriptMessage_none,
+				SubscriptMessage_ignore_collision_response
+			};
+
+			typedef SubscriptMessage (*EventAction_Collision)( const ICustomBody *proto, const ICustomBody *deuter );
+
 			virtual ~ICustomBody() {};
 
 			/********************************************************
@@ -217,11 +234,11 @@ namespace Oyster
 			 * @return An ICustomBody pointer along with the responsibility to delete.
 			 ********************************************************/
 			virtual ::Utility::DynamicMemory::UniquePointer<ICustomBody> Clone() const = 0;
-			
+
 			/********************************************************
-			 * @return true if Engine should call the EventAction_Collision function.
+			 * @return true if Engine should apply gravity on this object.
 			 ********************************************************/
-			virtual bool IsSubscribingCollisions() const = 0;
+			virtual bool IsAffectedByGravity() const = 0;
 
 			/********************************************************
 			 * Performs a detailed Intersect test and returns if, when and where.
@@ -254,6 +271,13 @@ namespace Oyster
 			 ********************************************************/
 			virtual ::Oyster::Math::Float3 & GetNormalAt( const ::Oyster::Math::Float3 &worldPos, ::Oyster::Math::Float3 &targetMem = ::Oyster::Math::Float3() ) const = 0;
 			
+			/********************************************************
+			 * The gravity normal will have same direction as the total gravity force pulling on this and have the magnitude of 1.0f.
+			 * @param targetMem: Provided memory that written into and then returned.
+			 * @return a normalized vector in worldSpace. Exception: Null vector if no gravity been applied.
+			 ********************************************************/
+			virtual ::Oyster::Math::Float3 & GetGravityNormal( ::Oyster::Math::Float3 &targetMem = ::Oyster::Math::Float3() ) const = 0;
+
 			/********************************************************
 			 * The world position of this center of gravity.
 			 * @param targetMem: Provided memory that written into and then returned.
@@ -280,52 +304,76 @@ namespace Oyster
 			virtual ::Oyster::Math::Float4x4 & GetView( ::Oyster::Math::Float4x4 &targetMem = ::Oyster::Math::Float4x4() ) const = 0;
 
 			/********************************************************
-			 * To be only called by Engine
+			 * To not be called if is in Engine
 			 * Is called during API::Update
 			 ********************************************************/
 			virtual UpdateState Update( ::Oyster::Math::Float timeStepLength ) = 0;
+			
+			/********************************************************
+			 * Sets the function that will be called by the engine
+			 * whenever a collision occurs.
+			 * @param functionPointer: If NULL, an empty default function will be set.
+			 ********************************************************/
+			virtual void SetSubscription( EventAction_Collision functionPointer ) = 0;
 
 			/********************************************************
-			 * To be only called by Engine
+			 * @param ignore: True if Engine should not apply Gravity.
+			 ********************************************************/
+			virtual void SetGravity( bool ignore) = 0;
+
+			/********************************************************
+			 * Used by Engine
+			 * @param normalizedVector: Should have same direction as the pullinggravity.
+			 ********************************************************/
+			virtual void SetGravityNormal( const ::Oyster::Math::Float3 &normalizedVector ) = 0;
+
+			/********************************************************
+			 * To not be called if is in Engine
 			 * Use API::SetMomentOfInertiaTensor_KeepVelocity(...) instead
 			 ********************************************************/
 			virtual void SetMomentOfInertiaTensor_KeepVelocity( const ::Oyster::Math::Float4x4 &localI ) = 0;
 			
 			/********************************************************
-			 * To be only called by Engine
+			 * To not be called if is in Engine
 			 * Use API::SetMomentOfInertiaTensor_KeepMomentum(...)
 			 ********************************************************/
 			virtual void SetMomentOfInertiaTensor_KeepMomentum( const ::Oyster::Math::Float4x4 &localI ) = 0;
 			
 			/********************************************************
-			 * To be only called by Engine
+			 * To not be called if is in Engine
 			 * Use API::SetMass_KeepVelocity(...)
 			 ********************************************************/
 			virtual void SetMass_KeepVelocity( ::Oyster::Math::Float m ) = 0;
 			
 			/********************************************************
-			 * To be only called by Engine
+			 * To not be called if is in Engine
 			 * Use API::SetMass_KeepMomentum(...)
 			 ********************************************************/
 			virtual void SetMass_KeepMomentum( ::Oyster::Math::Float m ) = 0;
 			
 			/********************************************************
-			 * To be only called by Engine
+			 * To not be called if is in Engine
 			 * Use API::SetCenter(...)
 			 ********************************************************/
 			virtual void SetCenter( const ::Oyster::Math::Float3 &worldPos ) = 0;
 			
 			/********************************************************
-			 * To be only called by Engine
+			 * To not be called if is in Engine
 			 * Use API::SetRotation(...)
 			 ********************************************************/
 			virtual void SetRotation( const ::Oyster::Math::Float4x4 &rotation ) = 0;
 			
 			/********************************************************
-			 * To be only called by Engine
+			 * To not be called if is in Engine
 			 * Use API::SetOrientation(...)
 			 ********************************************************/
 			virtual void SetOrientation( const ::Oyster::Math::Float4x4 &orientation ) = 0;
+
+			/********************************************************
+			 * To not be called if is in Engine
+			 * Use API::SetSize(...)
+			 ********************************************************/
+			virtual void SetSize( const ::Oyster::Math::Float3 &size ) = 0;
 		};
 	}
 }

Code/OysterMath/Matrix.h

@@ -29,7 +29,7 @@ namespace LinearAlgebra
 		Matrix2x2( );
 		Matrix2x2( const ScalarType &m11, const ScalarType &m12,
 			       const ScalarType &m21, const ScalarType &m22 );
-		Matrix2x2( const Vector2<ScalarType> vec[2] );
+		explicit Matrix2x2( const Vector2<ScalarType> vec[2] );
 		Matrix2x2( const Vector2<ScalarType> &vec1, const Vector2<ScalarType> &vec2 );
 		explicit Matrix2x2( const ScalarType element[4] );
 		Matrix2x2( const Matrix2x2<ScalarType> &matrix );
@@ -80,7 +80,7 @@ namespace LinearAlgebra
 		Matrix3x3( const ScalarType &m11, const ScalarType &m12, const ScalarType &m13,
 			       const ScalarType &m21, const ScalarType &m22, const ScalarType &m23,
 				   const ScalarType &m31, const ScalarType &m32, const ScalarType &m33 );
-		Matrix3x3( const Vector3<ScalarType> vec[3] );
+		explicit Matrix3x3( const Vector3<ScalarType> vec[3] );
 		Matrix3x3( const Vector3<ScalarType> &vec1, const Vector3<ScalarType> &vec2, const Vector3<ScalarType> &vec3 );
 		explicit Matrix3x3( const ScalarType element[9] );
 		Matrix3x3( const Matrix3x3<ScalarType> &matrix );
@@ -132,7 +132,7 @@ namespace LinearAlgebra
 			       const ScalarType &m21, const ScalarType &m22, const ScalarType &m23, const ScalarType &m24,
 				   const ScalarType &m31, const ScalarType &m32, const ScalarType &m33, const ScalarType &m34,
 				   const ScalarType &m41, const ScalarType &m42, const ScalarType &m43, const ScalarType &m44 );
-		Matrix4x4( const Vector4<ScalarType> vec[4] );
+		explicit Matrix4x4( const Vector4<ScalarType> vec[4] );
 		Matrix4x4( const Vector4<ScalarType> &vec1, const Vector4<ScalarType> &vec2, const Vector4<ScalarType> &vec3, const Vector4<ScalarType> &vec4 );
 		explicit Matrix4x4( const ScalarType element[16] );
 		Matrix4x4( const Matrix4x4<ScalarType> &matrix );

Code/OysterPhysics3D/Box.cpp

@@ -8,13 +8,19 @@
 using namespace ::Oyster::Collision3D;
 using namespace ::Oyster::Math3D;
 
-Box::Box( )
+Box::Box( ) : ICollideable(Type_box)
-	: ICollideable(Type_box), rotation(Float4x4::identity), center(0.0f), boundingOffset(0.5f)
+{
-{}
+	this->rotation = Float4x4::identity;
+	this->center =0.0f;
+	this->boundingOffset = Float3(0.5f);
+}
 
-Box::Box( const Float4x4 &r, const Float3 &p, const Float3 &s )
+Box::Box( const Float4x4 &r, const Float3 &p, const Float3 &s ) : ICollideable(Type_box)
-	: ICollideable(Type_box), rotation(r), center(p), boundingOffset(s*0.5)
+{
-{}
+	this->rotation = r;
+	this->center = p;
+	this->boundingOffset = Float3(s*0.5);
+}
 
 Box::~Box( ) {}
 

Code/OysterPhysics3D/BoxAxisAligned.cpp

@@ -8,10 +8,24 @@
 using namespace ::Oyster::Collision3D;
 using namespace ::Oyster::Math3D;
 
-BoxAxisAligned::BoxAxisAligned( ) : ICollideable(Type_box_axis_aligned), minVertex(-0.5f,-0.5f,-0.5f), maxVertex(0.5f,0.5f,0.5f) {}
+BoxAxisAligned::BoxAxisAligned( ) : ICollideable(Type_box_axis_aligned)
-BoxAxisAligned::BoxAxisAligned( const Float3 &_minVertex, const Float3 &_maxVertex ) : ICollideable(Type_box_axis_aligned), minVertex(_minVertex), maxVertex(_maxVertex) {}
+{
-BoxAxisAligned::BoxAxisAligned( const Float &leftClip, const Float &rightClip, const Float &topClip, const Float &bottomClip, const Float &nearClip, const Float &farClip )
+	this->minVertex = Float3(-0.5f,-0.5f,-0.5f );
-	: ICollideable(Type_box_axis_aligned), minVertex(leftClip, bottomClip, nearClip), maxVertex(rightClip, topClip, farClip) {}
+	this->maxVertex = Float3( 0.5f, 0.5f, 0.5f );
+}
+
+BoxAxisAligned::BoxAxisAligned( const Float3 &_minVertex, const Float3 &_maxVertex ) : ICollideable(Type_box_axis_aligned)
+{
+	this->minVertex = _minVertex;
+	this->maxVertex = _maxVertex;
+}
+
+BoxAxisAligned::BoxAxisAligned( const Float &leftClip, const Float &rightClip, const Float &topClip, const Float &bottomClip, const Float &nearClip, const Float &farClip ) : ICollideable(Type_box_axis_aligned)
+{
+	this->minVertex = Float3( leftClip, bottomClip, nearClip );
+	this->maxVertex = Float3( rightClip, topClip, farClip );
+}
+
 BoxAxisAligned::~BoxAxisAligned( ) {}
 
 BoxAxisAligned & BoxAxisAligned::operator = ( const BoxAxisAligned &box )
@@ -22,7 +36,9 @@ BoxAxisAligned & BoxAxisAligned::operator = ( const BoxAxisAligned &box )
 }
 
 ::Utility::DynamicMemory::UniquePointer<ICollideable> BoxAxisAligned::Clone( ) const
-{ return ::Utility::DynamicMemory::UniquePointer<ICollideable>( new BoxAxisAligned(*this) ); }
+{
+	return ::Utility::DynamicMemory::UniquePointer<ICollideable>( new BoxAxisAligned(*this) );
+}
 
 bool BoxAxisAligned::Intersects( const ICollideable &target ) const
 {

Code/OysterPhysics3D/Frustrum.cpp

@@ -74,13 +74,22 @@ namespace PrivateStatic
 	}
 }
 
-Frustrum::Frustrum() : ICollideable(Type_frustrum),
+Frustrum::Frustrum() : ICollideable(Type_frustrum)
-	leftPlane(Float3::standard_unit_x, -0.5f), rightPlane(-Float3::standard_unit_x, 0.5f),
+{
-	bottomPlane(Float3::standard_unit_y, -0.5f), topPlane(-Float3::standard_unit_y, 0.5f),
+	this->leftPlane   = Plane( Float3::standard_unit_x, -0.5f );
-	nearPlane(Float3::standard_unit_z, -0.5f), farPlane(-Float3::standard_unit_z, 0.5f) {}
+	this->rightPlane  = Plane(-Float3::standard_unit_x,  0.5f ),
+	this->bottomPlane = Plane( Float3::standard_unit_y, -0.5f );
+	this->topPlane	  = Plane(-Float3::standard_unit_y,  0.5f );
+	this->nearPlane	  = Plane( Float3::standard_unit_z, -0.5f );
+	this->farPlane	  = Plane(-Float3::standard_unit_z,  0.5f );
+}
 
 Frustrum::Frustrum( const Float4x4 &vp ) : ICollideable(Type_frustrum)
-{ PrivateStatic::VP_ToPlanes( this->leftPlane, this->rightPlane, this->bottomPlane, this->topPlane, this->nearPlane, this->farPlane, vp ); }
+{
+	PrivateStatic::VP_ToPlanes( this->leftPlane, this->rightPlane, this->bottomPlane,
+								this->topPlane,  this->nearPlane,  this->farPlane,
+								vp );
+}
 
 Frustrum::~Frustrum() {}
 

Code/OysterPhysics3D/ICollideable.cpp

@@ -6,7 +6,5 @@
 
 using namespace ::Oyster::Collision3D;
 
-ICollideable::ICollideable( Type _type )
+ICollideable::ICollideable( Type _type ) : type(_type) {}
-	: type(_type) {}
-
 ICollideable::~ICollideable() {}

Code/OysterPhysics3D/Line.cpp

@@ -8,9 +8,24 @@
 using namespace ::Oyster::Collision3D;
 using namespace ::Oyster::Math3D;
 
-Line::Line( ) : ICollideable(Type_line), ray(), length(0.0f) {}
+Line::Line( ) : ICollideable(Type_line)
-Line::Line( const class Ray &_ray, const Float &_length ) : ICollideable(Type_line), ray(_ray), length(_length) {}
+{
-Line::Line( const Float3 &origin, const Float3 &normalizedDirection, const Float &_length ) : ICollideable(Type_line), ray(origin, normalizedDirection), length(_length) {}
+	this->ray = Ray();
+	this->length = 0.0f;
+}
+
+Line::Line( const class Ray &_ray, const Float &_length ) : ICollideable(Type_line)
+{
+	this->ray = _ray;
+	this->length = _length;
+}
+
+Line::Line( const Float3 &origin, const Float3 &normalizedDirection, const Float &_length ) : ICollideable(Type_line)
+{
+	this->ray = Ray( origin, normalizedDirection );
+	this->length = _length;
+}
+
 Line::~Line( ) {}
 
 Line & Line::operator = ( const Line &line )

Code/OysterPhysics3D/Plane.cpp

@@ -8,8 +8,18 @@
 using namespace ::Oyster::Collision3D;
 using namespace ::Oyster::Math;
 
-Plane::Plane( ) : ICollideable(Type_plane), normal(), phasing(0.0f) {}
+Plane::Plane( ) : ICollideable(Type_plane)
-Plane::Plane( const Float3 &n, const Float &p ) : ICollideable(Type_plane), normal(n), phasing(p) {}
+{
+	this->normal = Float3::standard_unit_z;
+	this->phasing = 0.0f;
+}
+
+Plane::Plane( const Float3 &n, const Float &p ) : ICollideable(Type_plane)
+{
+	this->normal = n;
+	this->phasing = p;
+}
+
 Plane::~Plane( ) {}
 
 Plane & Plane::operator = ( const Plane &plane )

Code/OysterPhysics3D/Point.cpp

@@ -8,8 +8,16 @@
 using namespace ::Oyster::Collision3D;
 using namespace ::Oyster::Math3D;
 
-Point::Point( ) : ICollideable(Type_point), center() {}
+Point::Point( ) : ICollideable(Type_point)
-Point::Point( const Float3 &pos ) : ICollideable(Type_point), center(pos) {}
+{
+	this->center = Float3::null;
+}
+
+Point::Point( const Float3 &pos ) : ICollideable(Type_point)
+{
+	this->center = pos;
+}
+
 Point::~Point( ) {}
 
 Point & Point::operator = ( const Point &point )
@@ -19,7 +27,9 @@ Point & Point::operator = ( const Point &point )
 }
 
 ::Utility::DynamicMemory::UniquePointer<ICollideable> Point::Clone( ) const
-{ return ::Utility::DynamicMemory::UniquePointer<ICollideable>( new Point(*this) ); }
+{
+	return ::Utility::DynamicMemory::UniquePointer<ICollideable>( new Point(*this) );
+}
 
 bool Point::Intersects( const ICollideable &target ) const
 {

Code/OysterPhysics3D/Ray.cpp

@@ -8,8 +8,20 @@
 using namespace ::Oyster::Collision3D;
 using namespace ::Oyster::Math3D;
 
-Ray::Ray( ) : ICollideable(Type_ray), origin(), direction(), collisionDistance(0.0f) {}
+Ray::Ray( ) : ICollideable(Type_ray)
-Ray::Ray( const Float3 &o, const ::Oyster::Math::Float3 &d ) : ICollideable(Type_ray), origin(o), direction(d), collisionDistance(0.0f)  {}
+{
+	this->origin = Float3::null;
+	this->direction = Float3::standard_unit_z;
+	this->collisionDistance = 0.0f;
+}
+
+Ray::Ray( const Float3 &o, const ::Oyster::Math::Float3 &d ) : ICollideable(Type_ray)
+{
+	this->origin = o;
+	this->direction = d;
+	this->collisionDistance = 0.0f;
+}
+
 Ray::~Ray( ) {}
 
 Ray & Ray::operator = ( const Ray &ray )
@@ -20,7 +32,9 @@ Ray & Ray::operator = ( const Ray &ray )
 }
 
 ::Utility::DynamicMemory::UniquePointer<ICollideable> Ray::Clone( ) const
-{ return ::Utility::DynamicMemory::UniquePointer<ICollideable>( new Ray(*this) ); }
+{
+	return ::Utility::DynamicMemory::UniquePointer<ICollideable>( new Ray(*this) );
+}
 
 bool Ray::Intersects( const ICollideable &target ) const
 {

Code/OysterPhysics3D/Sphere.cpp

@@ -4,8 +4,18 @@
 using namespace ::Oyster::Collision3D;
 using namespace ::Oyster::Math;
 
-Sphere::Sphere( ) : ICollideable(Type_sphere), center(), radius(0.0f) { }
+Sphere::Sphere( ) : ICollideable(Type_sphere)
-Sphere::Sphere( const Float3 &_position, const Float &_radius ) : ICollideable(Type_sphere), center(_position), radius(_radius) {}
+{
+	this->center = Float3::null;
+	this->radius = 0.0f;
+}
+
+Sphere::Sphere( const Float3 &_position, const Float &_radius ) : ICollideable(Type_sphere)
+{
+	this->center = _position;
+	this->radius = _radius;
+}
+
 Sphere::~Sphere( ) {}
 
 Sphere & Sphere::operator = ( const Sphere &sphere )