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SphericalRigidBody factory done 

not tested though
This commit is contained in:
Dander7BD 2013-11-28 12:13:14 +01:00
parent 64565b50de
commit 2928e08252
4 changed files with 49 additions and 27 deletions
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2
Code/GamePhysics/Implementation/PhysicsAPI_Impl.cpp
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@ -169,7 +169,7 @@ UniquePointer<ICustomBody> API_Impl::CreateRigidBody( const API::SimpleBodyDescr
UniquePointer<ICustomBody> API_Impl::CreateRigidBody( const API::SphericalBodyDescription &desc ) const
{
return new SphericalRigidBody();
return new SphericalRigidBody( desc );
}
namespace Oyster { namespace Physics { namespace Default

2
Code/GamePhysics/Implementation/SimpleRigidBody.cpp
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@ -10,7 +10,7 @@ using namespace ::Utility::Value;
SimpleRigidBody::SimpleRigidBody()
{
this->rigid = RigidBody();
this->rigid = RigidBody( Box(Float4x4::identity, Float3::null, Float3(1.0f)), 16.0f, Float4x4::identity );
this->gravityNormal = Float3::null;
this->collisionAction = Default::EventAction_Collision;
this->ignoreGravity = false;

69
Code/GamePhysics/Implementation/SphericalRigidBody.cpp
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@ -9,11 +9,33 @@ 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 ) {}
{
this->rigid = RigidBody( Box(Float4x4::identity, Float3::null, Float3(1.0f)), 10.0f, Float4x4::identity );
this->gravityNormal = Float3::null;
this->collisionAction = Default::EventAction_Collision;
this->ignoreGravity = false;
this->body = Sphere( Float3::null, 0.5f );
}
SphericalRigidBody::SphericalRigidBody( const API::SphericalBodyDescription &desc )
{
this->rigid = RigidBody( Box( desc.rotation, desc.centerPosition, Float3(2.0f * desc.radius) ),
desc.mass,
desc.inertiaTensor );
this->gravityNormal = Float3::null;
if( desc.subscription )
{
this->collisionAction = desc.subscription;
}
else
{
this->collisionAction = Default::EventAction_Collision;
}
this->ignoreGravity = desc.ignoreGravity;
this->body = Sphere( desc.centerPosition, desc.radius );
}
SphericalRigidBody::~SphericalRigidBody() {}
@ -43,7 +65,7 @@ bool SphericalRigidBody::Intersects( const ICustomBody &object, Float timeStepLe
bool SphericalRigidBody::Intersects( const ICollideable &shape ) const
{
return this->current.box.Intersects( shape );
return this->rigid.box.Intersects( shape );
}
Sphere & SphericalRigidBody::GetBoundingSphere( Sphere &targetMem ) const
@ -54,7 +76,7 @@ Sphere & SphericalRigidBody::GetBoundingSphere( Sphere &targetMem ) const
Float3 & SphericalRigidBody::GetNormalAt( const Float3 &worldPos, Float3 &targetMem ) const
{
//! @todo TODO: better implementation needed
return targetMem = (worldPos - this->current.box.center).GetNormalized();
return targetMem = (worldPos - this->rigid.box.center).GetNormalized();
}
Float3 & SphericalRigidBody::GetGravityNormal( Float3 &targetMem ) const
@ -64,33 +86,32 @@ Float3 & SphericalRigidBody::GetGravityNormal( Float3 &targetMem ) const
Float3 & SphericalRigidBody::GetCenter( Float3 &targetMem ) const
{
return targetMem = this->current.box.center;
return targetMem = this->rigid.box.center;
}
Float4x4 & SphericalRigidBody::GetRotation( Float4x4 &targetMem ) const
{
return targetMem = this->current.box.rotation;
return targetMem = this->rigid.box.rotation;
}
Float4x4 & SphericalRigidBody::GetOrientation( Float4x4 &targetMem ) const
{
return targetMem = this->current.GetOrientation();
return targetMem = this->rigid.GetOrientation();
}
Float4x4 & SphericalRigidBody::GetView( Float4x4 &targetMem ) const
{
return targetMem = this->current.GetView();
return targetMem = this->rigid.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();
this->rigid.Update_LeapFrog( timeStepLength );
this->body.center = this->rigid.GetCenter();
// compare previous and new state and return result
return this->current == this->previous ? UpdateState_resting : UpdateState_altered;
//return this->current == this->previous ? UpdateState_resting : UpdateState_altered;
return UpdateState_altered;
}
void SphericalRigidBody::SetSubscription( ICustomBody::EventAction_Collision functionPointer )
@ -118,43 +139,43 @@ void SphericalRigidBody::SetGravityNormal( const Float3 &normalizedVector )
void SphericalRigidBody::SetMomentOfInertiaTensor_KeepVelocity( const Float4x4 &localI )
{
this->current.SetMomentOfInertia_KeepVelocity( localI );
this->rigid.SetMomentOfInertia_KeepVelocity( localI );
}
void SphericalRigidBody::SetMomentOfInertiaTensor_KeepMomentum( const Float4x4 &localI )
{
this->current.SetMomentOfInertia_KeepMomentum( localI );
this->rigid.SetMomentOfInertia_KeepMomentum( localI );
}
void SphericalRigidBody::SetMass_KeepVelocity( Float m )
{
this->current.SetMass_KeepVelocity( m );
this->rigid.SetMass_KeepVelocity( m );
}
void SphericalRigidBody::SetMass_KeepMomentum( Float m )
{
this->current.SetMass_KeepMomentum( m );
this->rigid.SetMass_KeepMomentum( m );
}
void SphericalRigidBody::SetCenter( const Float3 &worldPos )
{
this->current.SetCenter( worldPos );
this->rigid.SetCenter( worldPos );
this->body.center = worldPos;
}
void SphericalRigidBody::SetRotation( const Float4x4 &rotation )
{
this->current.SetRotation( rotation );
this->rigid.SetRotation( rotation );
}
void SphericalRigidBody::SetOrientation( const Float4x4 &orientation )
{
this->current.SetOrientation( orientation );
this->rigid.SetOrientation( orientation );
this->body.center = orientation.v[3].xyz;
}
void SphericalRigidBody::SetSize( const Float3 &size )
{
this->current.SetSize( size );
this->rigid.SetSize( size );
this->body.radius = 0.5f * Min( Min( size.x, size.y ), size.z ); // inline Min( FloatN )?
}

3
Code/GamePhysics/Implementation/SphericalRigidBody.h
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@ -11,6 +11,7 @@ namespace Oyster { namespace Physics
{
public:
SphericalRigidBody();
SphericalRigidBody( const API::SphericalBodyDescription &desc );
virtual ~SphericalRigidBody();
::Utility::DynamicMemory::UniquePointer<ICustomBody> Clone() const;
@ -43,7 +44,7 @@ namespace Oyster { namespace Physics
void SetSize( const ::Oyster::Math::Float3 &size );
private:
::Oyster::Physics3D::RigidBody previous, current;
::Oyster::Physics3D::RigidBody rigid;
::Oyster::Math::Float3 gravityNormal;
EventAction_Collision collisionAction;
bool ignoreGravity;