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Merge remote-tracking branch 'origin/Physics' into GameLogic

This commit is contained in:
lindaandersson 2014-01-29 13:18:25 +01:00
parent 16334ea2db aa99742894
commit 3a9c47722a
12 changed files with 135 additions and 129 deletions
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Code/Dokumentation/Other/Timestep_Impulse_Fix.odt
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Code/Dokumentation/Other/angular momentum to angular velocity.odt
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170
Code/GamePhysics/Implementation/PhysicsAPI_Impl.cpp
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@ -22,92 +22,71 @@ namespace
Float4 worldPointOfContact; Float4 worldPointOfContact;
if( proto->Intersects(*deuter, worldPointOfContact) ) if( proto->Intersects(*deuter, worldPointOfContact) )
{ {
switch( proto->CallSubscription_Collision(deuter) ) // Apply CollisionResponse in pure gather pattern
{ ICustomBody::State protoState; proto->GetState( protoState );
case ICustomBody::SubscriptMessage_ignore_collision_response: ICustomBody::State deuterState; deuter->GetState( deuterState );
break;
default:
{ // Apply CollisionResponse in pure gather pattern
ICustomBody::State protoState; proto->GetState( protoState );
ICustomBody::State deuterState; deuter->GetState( deuterState );
Float4 protoG = protoState.GetLinearMomentum( worldPointOfContact.xyz ), Float4 protoG = protoState.GetLinearMomentum( worldPointOfContact.xyz ),
deuterG = deuterState.GetLinearMomentum( worldPointOfContact.xyz ); deuterG = deuterState.GetLinearMomentum( worldPointOfContact.xyz );
// calc from perspective of deuter // calc from perspective of deuter
Float4 normal; deuter->GetNormalAt( worldPointOfContact, normal ); Float4 normal; deuter->GetNormalAt( worldPointOfContact, normal );
Float protoG_Magnitude = protoG.Dot( normal ), Float protoG_Magnitude = protoG.Dot( normal ),
deuterG_Magnitude = deuterG.Dot( normal );
// if they are not relatively moving towards eachother, there is no collision
Float deltaPos = normal.Dot( Float4(deuterState.GetCenterPosition(), 1) - Float4(protoState.GetCenterPosition(), 1) );
if( deltaPos < 0.0f )
{
if( protoG_Magnitude >= deuterG_Magnitude )
{
break;
}
}
else if( deltaPos > 0.0f )
{
if( protoG_Magnitude <= deuterG_Magnitude )
{
break;
}
}
else
{
break;
}
// 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 );
protoG_Magnitude = protoG.Dot( normal ),
deuterG_Magnitude = deuterG.Dot( normal ); deuterG_Magnitude = deuterG.Dot( normal );
// bounce
Float4 bounceP = normal * Formula::CollisionResponse::Bounce( protoState.GetRestitutionCoeff(),
protoState.GetMass(), protoG_Magnitude,
deuterState.GetMass(), deuterG_Magnitude );
Float4 bounce = Average( bounceD, bounceP ); // if they are not relatively moving towards eachother, there is no collision
//Float4 bounce = bounceD + bounceP; Float deltaPos = normal.Dot( Float4(deuterState.GetCenterPosition(), 1) - Float4(protoState.GetCenterPosition(), 1) );
if( deltaPos < 0.0f )
// FRICTION {
// Apply if( protoG_Magnitude >= deuterG_Magnitude )
//sumJ += ( 1 / deuterState.GetMass() )*frictionImpulse; {
// FRICTION END return;
// 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;
} }
else if( deltaPos > 0.0f )
{
if( protoG_Magnitude <= deuterG_Magnitude )
{
return;
}
}
else
{
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 );
// calc from perspective of proto
proto->GetNormalAt( worldPointOfContact, normal );
protoG_Magnitude = protoG.Dot( normal ),
deuterG_Magnitude = deuterG.Dot( normal );
// bounce
Float4 bounceP = normal * Formula::CollisionResponse::Bounce( protoState.GetRestitutionCoeff(),
protoState.GetMass(), protoG_Magnitude,
deuterState.GetMass(), deuterG_Magnitude );
Float4 bounce = Average( bounceD, bounceP );
Float kineticEnergyPBefore = Oyster::Physics3D::Formula::LinearKineticEnergy( protoState.GetMass(), protoState.GetLinearMomentum()/protoState.GetMass() );
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_AfterCollisionResponse( deuter, kineticEnergyPBefore - kineticEnergyPAFter );
} }
} }
} }
@ -120,6 +99,7 @@ API & API::Instance()
API_Impl::API_Impl() API_Impl::API_Impl()
{ {
this->gravityConstant = Constant::gravity_constant; this->gravityConstant = Constant::gravity_constant;
this->epsilon = Constant::epsilon;
this->updateFrameLength = 1.0f / 120.0f; this->updateFrameLength = 1.0f / 120.0f;
this->destructionAction = Default::EventAction_Destruction; this->destructionAction = Default::EventAction_Destruction;
this->gravity = ::std::vector<Gravity>(); this->gravity = ::std::vector<Gravity>();
@ -146,6 +126,11 @@ void API_Impl::SetGravityConstant( float g )
this->gravityConstant = g; this->gravityConstant = g;
} }
void API_Impl::SetEpsilon( float e )
{
this->epsilon = e;
}
void API_Impl::SetSubscription( API::EventAction_Destruction functionPointer ) void API_Impl::SetSubscription( API::EventAction_Destruction functionPointer )
{ {
if( functionPointer ) if( functionPointer )
@ -213,12 +198,31 @@ 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();
if( lM.x < this->epsilon )
{
state.SetLinearMomentum( Float3(0, lM.y, lM.z) );
state.SetLinearImpulse( Float3(0, lM.y, lM.z) );
}
if( lM.y < this->epsilon )
{
state.SetLinearMomentum( Float3(lM.x, 0, lM.z) );
state.SetLinearImpulse( Float3(lM.x, 0, lM.z) );
}
if( lM.z < this->epsilon )
{
state.SetLinearMomentum( Float3(lM.x, lM.y, 0) );
state.SetLinearImpulse( Float3(lM.x, lM.y, 0) );
}
switch( (*proto)->Update(this->updateFrameLength) ) switch( (*proto)->Update(this->updateFrameLength) )
{ {
case UpdateState_altered: case UpdateState_altered:
this->worldScene.SetAsAltered( this->worldScene.GetTemporaryReferenceOf(*proto) ); this->worldScene.SetAsAltered( this->worldScene.GetTemporaryReferenceOf(*proto) );
(*proto)->CallSubscription_Move(); (*proto)->CallSubscription_Move();
case UpdateState_resting: default: case UpdateState_resting:
default:
break; break;
} }
} }
@ -384,12 +388,12 @@ namespace Oyster { namespace Physics
void EventAction_Destruction( ::Utility::DynamicMemory::UniquePointer<::Oyster::Physics::ICustomBody> proto ) void EventAction_Destruction( ::Utility::DynamicMemory::UniquePointer<::Oyster::Physics::ICustomBody> proto )
{ /* Do nothing except allowing the proto uniquePointer destroy itself. */ } { /* 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. */ { /* Do nothing except returning business as usual. */
return ::Oyster::Physics::ICustomBody::SubscriptMessage_none; 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. */ { /* Do nothing except returning business as usual. */
} }

7
Code/GamePhysics/Implementation/PhysicsAPI_Impl.h
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@ -18,6 +18,7 @@ namespace Oyster
void SetFrameTimeLength( float deltaTime ); void SetFrameTimeLength( float deltaTime );
void SetGravityConstant( float g ); void SetGravityConstant( float g );
void SetEpsilon( float e );
void SetSubscription( EventAction_Destruction functionPointer ); void SetSubscription( EventAction_Destruction functionPointer );
float GetFrameTimeLength() const; float GetFrameTimeLength() const;
@ -52,7 +53,7 @@ namespace Oyster
::Utility::DynamicMemory::UniquePointer<ICustomBody> CreateRigidBody( const SphericalBodyDescription &desc ) const; ::Utility::DynamicMemory::UniquePointer<ICustomBody> CreateRigidBody( const SphericalBodyDescription &desc ) const;
private: private:
::Oyster::Math::Float gravityConstant, updateFrameLength; ::Oyster::Math::Float gravityConstant, updateFrameLength, epsilon;
EventAction_Destruction destructionAction; EventAction_Destruction destructionAction;
::std::vector<API::Gravity> gravity; ::std::vector<API::Gravity> gravity;
Octree worldScene; Octree worldScene;
@ -61,8 +62,8 @@ namespace Oyster
namespace Default namespace Default
{ {
void EventAction_Destruction( ::Utility::DynamicMemory::UniquePointer<::Oyster::Physics::ICustomBody> proto ); 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 ); ::Oyster::Physics::ICustomBody::SubscriptMessage EventAction_BeforeCollisionResponse( 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 ); 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 ); void EventAction_Move( const ::Oyster::Physics::ICustomBody *object );
} }
} }

20
Code/GamePhysics/Implementation/SimpleRigidBody.cpp
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@ -46,8 +46,8 @@ SimpleRigidBody::SimpleRigidBody()
this->rigid = RigidBody(); this->rigid = RigidBody();
this->rigid.SetMass_KeepMomentum( 16.0f ); this->rigid.SetMass_KeepMomentum( 16.0f );
this->gravityNormal = Float3::null; this->gravityNormal = Float3::null;
this->onCollision = Default::EventAction_Collision; this->onCollision = Default::EventAction_BeforeCollisionResponse;
this->onCollisionResponse = Default::EventAction_CollisionResponse; this->onCollisionResponse = Default::EventAction_AfterCollisionResponse;
this->onMovement = Default::EventAction_Move; this->onMovement = Default::EventAction_Move;
this->scene = nullptr; this->scene = nullptr;
this->customTag = nullptr; this->customTag = nullptr;
@ -72,7 +72,7 @@ SimpleRigidBody::SimpleRigidBody( const API::SimpleBodyDescription &desc )
} }
else else
{ {
this->onCollision = Default::EventAction_Collision; this->onCollision = Default::EventAction_BeforeCollisionResponse;
} }
if( desc.subscription_onCollisionResponse ) if( desc.subscription_onCollisionResponse )
@ -81,7 +81,7 @@ SimpleRigidBody::SimpleRigidBody( const API::SimpleBodyDescription &desc )
} }
else else
{ {
this->onCollisionResponse = Default::EventAction_CollisionResponse; this->onCollisionResponse = Default::EventAction_AfterCollisionResponse;
} }
if( desc.subscription_onMovement ) 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 ); 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 ); return this->onCollisionResponse( this, deuter, kineticEnergyLoss );
} }
@ -318,7 +318,7 @@ void SimpleRigidBody::SetScene( void *scene )
this->scene = (Octree*)scene; this->scene = (Octree*)scene;
} }
void SimpleRigidBody::SetSubscription( ICustomBody::EventAction_Collision functionPointer ) void SimpleRigidBody::SetSubscription( ICustomBody::EventAction_BeforeCollisionResponse functionPointer )
{ {
if( functionPointer ) if( functionPointer )
{ {
@ -326,11 +326,11 @@ void SimpleRigidBody::SetSubscription( ICustomBody::EventAction_Collision functi
} }
else 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 ) if( functionPointer )
{ {
@ -338,7 +338,7 @@ void SimpleRigidBody::SetSubscription( ICustomBody::EventAction_CollisionRespons
} }
else else
{ {
this->onCollisionResponse = Default::EventAction_CollisionResponse; this->onCollisionResponse = Default::EventAction_AfterCollisionResponse;
} }
} }

12
Code/GamePhysics/Implementation/SimpleRigidBody.h
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@ -21,8 +21,8 @@ namespace Oyster { namespace Physics
void SetState( const State &state ); void SetState( const State &state );
//::Oyster::Math::Float3 GetRigidLinearVelocity() const; //::Oyster::Math::Float3 GetRigidLinearVelocity() const;
SubscriptMessage CallSubscription_Collision( const ICustomBody *deuter ); SubscriptMessage CallSubscription_BeforeCollisionResponse( const ICustomBody *deuter );
void CallSubscription_CollisionResponse( const ICustomBody *deuter, ::Oyster::Math::Float kineticEnergyLoss ); void CallSubscription_AfterCollisionResponse( const ICustomBody *deuter, ::Oyster::Math::Float kineticEnergyLoss );
void CallSubscription_Move(); void CallSubscription_Move();
bool IsAffectedByGravity() const; bool IsAffectedByGravity() const;
@ -44,8 +44,8 @@ namespace Oyster { namespace Physics
void SetScene( void *scene ); void SetScene( void *scene );
void SetSubscription( EventAction_Collision functionPointer ); void SetSubscription( EventAction_BeforeCollisionResponse functionPointer );
void SetSubscription( EventAction_CollisionResponse functionPointer ); void SetSubscription( EventAction_AfterCollisionResponse functionPointer );
void SetSubscription( EventAction_Move functionPointer ); void SetSubscription( EventAction_Move functionPointer );
void SetGravity( bool ignore); void SetGravity( bool ignore);
@ -65,8 +65,8 @@ namespace Oyster { namespace Physics
::Oyster::Physics3D::RigidBody rigid; ::Oyster::Physics3D::RigidBody rigid;
::Oyster::Math::Float4 deltaPos, deltaAxis; ::Oyster::Math::Float4 deltaPos, deltaAxis;
::Oyster::Math::Float3 gravityNormal; ::Oyster::Math::Float3 gravityNormal;
EventAction_Collision onCollision; EventAction_BeforeCollisionResponse onCollision;
EventAction_CollisionResponse onCollisionResponse; EventAction_AfterCollisionResponse onCollisionResponse;
EventAction_Move onMovement; EventAction_Move onMovement;
Octree *scene; Octree *scene;
void *customTag; void *customTag;

22
Code/GamePhysics/Implementation/SphericalRigidBody.cpp
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@ -13,8 +13,8 @@ SphericalRigidBody::SphericalRigidBody()
this->rigid = RigidBody(); this->rigid = RigidBody();
this->rigid.SetMass_KeepMomentum( 10.0f ); this->rigid.SetMass_KeepMomentum( 10.0f );
this->gravityNormal = Float3::null; this->gravityNormal = Float3::null;
this->onCollision = Default::EventAction_Collision; this->onCollision = Default::EventAction_BeforeCollisionResponse;
this->onCollisionResponse = Default::EventAction_CollisionResponse; this->onCollisionResponse = Default::EventAction_AfterCollisionResponse;
this->onMovement = Default::EventAction_Move; this->onMovement = Default::EventAction_Move;
this->scene = nullptr; this->scene = nullptr;
this->customTag = nullptr; this->customTag = nullptr;
@ -40,7 +40,7 @@ SphericalRigidBody::SphericalRigidBody( const API::SphericalBodyDescription &des
} }
else else
{ {
this->onCollision = Default::EventAction_Collision; this->onCollision = Default::EventAction_BeforeCollisionResponse;
} }
if( desc.subscription_onCollisionResponse ) if( desc.subscription_onCollisionResponse )
@ -49,7 +49,7 @@ SphericalRigidBody::SphericalRigidBody( const API::SphericalBodyDescription &des
} }
else else
{ {
this->onCollisionResponse = Default::EventAction_CollisionResponse; this->onCollisionResponse = Default::EventAction_AfterCollisionResponse;
} }
if( desc.subscription_onMovement ) 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 ); 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); this->onCollisionResponse( this, deuter, kineticEnergyLoss);
} }
@ -171,7 +171,7 @@ Sphere & SphericalRigidBody::GetBoundingSphere( Sphere &targetMem ) const
Float4 & SphericalRigidBody::GetNormalAt( const Float4 &worldPos, Float4 &targetMem ) const Float4 & SphericalRigidBody::GetNormalAt( const Float4 &worldPos, Float4 &targetMem ) const
{ {
targetMem = worldPos.xyz - this->rigid.centerPos; targetMem = Float4( worldPos.xyz - this->rigid.centerPos, 0);
Float magnitude = targetMem.GetMagnitude(); Float magnitude = targetMem.GetMagnitude();
if( magnitude != 0.0f ) if( magnitude != 0.0f )
{ // sanity check { // sanity check
@ -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 ); 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 ) if( functionPointer )
{ {
@ -246,11 +246,11 @@ void SphericalRigidBody::SetSubscription( ICustomBody::EventAction_Collision fun
} }
else 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 ) if( functionPointer )
{ {
@ -258,7 +258,7 @@ void SphericalRigidBody::SetSubscription( ICustomBody::EventAction_CollisionResp
} }
else else
{ {
this->onCollisionResponse = Default::EventAction_CollisionResponse; this->onCollisionResponse = Default::EventAction_AfterCollisionResponse;
} }
} }

12
Code/GamePhysics/Implementation/SphericalRigidBody.h
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@ -22,8 +22,8 @@ namespace Oyster { namespace Physics
void SetState( const State &state ); void SetState( const State &state );
//::Oyster::Math::Float3 GetRigidLinearVelocity() const; //::Oyster::Math::Float3 GetRigidLinearVelocity() const;
SubscriptMessage CallSubscription_Collision( const ICustomBody *deuter ); SubscriptMessage CallSubscription_BeforeCollisionResponse( const ICustomBody *deuter );
void CallSubscription_CollisionResponse( const ICustomBody *deuter, ::Oyster::Math::Float kineticEnergyLoss ); void CallSubscription_AfterCollisionResponse( const ICustomBody *deuter, ::Oyster::Math::Float kineticEnergyLoss );
void CallSubscription_Move(); void CallSubscription_Move();
bool IsAffectedByGravity() const; bool IsAffectedByGravity() const;
@ -45,8 +45,8 @@ namespace Oyster { namespace Physics
void SetScene( void *scene ); void SetScene( void *scene );
void SetSubscription( EventAction_Collision functionPointer ); void SetSubscription( EventAction_BeforeCollisionResponse functionPointer );
void SetSubscription( EventAction_CollisionResponse functionPointer ); void SetSubscription( EventAction_AfterCollisionResponse functionPointer );
void SetSubscription( EventAction_Move functionPointer ); void SetSubscription( EventAction_Move functionPointer );
void SetGravity( bool ignore); void SetGravity( bool ignore);
@ -66,8 +66,8 @@ namespace Oyster { namespace Physics
::Oyster::Physics3D::RigidBody rigid; ::Oyster::Physics3D::RigidBody rigid;
::Oyster::Math::Float4 deltaPos, deltaAxis; ::Oyster::Math::Float4 deltaPos, deltaAxis;
::Oyster::Math::Float3 gravityNormal; ::Oyster::Math::Float3 gravityNormal;
EventAction_Collision onCollision; EventAction_BeforeCollisionResponse onCollision;
EventAction_CollisionResponse onCollisionResponse; EventAction_AfterCollisionResponse onCollisionResponse;
EventAction_Move onMovement; EventAction_Move onMovement;
Octree *scene; Octree *scene;
void *customTag; void *customTag;

13
Code/GamePhysics/PhysicsAPI.h
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@ -34,6 +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;
} }
class PHYSICS_DLL_USAGE API class PHYSICS_DLL_USAGE API
@ -244,8 +245,8 @@ namespace Oyster
SubscriptMessage_ignore_collision_response SubscriptMessage_ignore_collision_response
}; };
typedef SubscriptMessage (*EventAction_Collision)( const ICustomBody *proto, const ICustomBody *deuter ); typedef SubscriptMessage (*EventAction_BeforeCollisionResponse)( const ICustomBody *proto, const ICustomBody *deuter );
typedef void (*EventAction_CollisionResponse)( const ICustomBody *proto, const ICustomBody *deuter, ::Oyster::Math::Float kineticEnergyLoss ); typedef void (*EventAction_AfterCollisionResponse)( const ICustomBody *proto, const ICustomBody *deuter, ::Oyster::Math::Float kineticEnergyLoss );
typedef void (*EventAction_Move)( const ICustomBody *object ); typedef void (*EventAction_Move)( const ICustomBody *object );
typedef Struct::SimpleBodyDescription SimpleBodyDescription; typedef Struct::SimpleBodyDescription SimpleBodyDescription;
typedef Struct::SphericalBodyDescription SphericalBodyDescription; typedef Struct::SphericalBodyDescription SphericalBodyDescription;
@ -262,12 +263,12 @@ namespace Oyster
/******************************************************** /********************************************************
* @todo TODO: need doc * @todo TODO: need doc
********************************************************/ ********************************************************/
virtual SubscriptMessage CallSubscription_Collision( const ICustomBody *deuter ) = 0; virtual SubscriptMessage CallSubscription_BeforeCollisionResponse( const ICustomBody *deuter ) = 0;
/******************************************************** /********************************************************
* @todo TODO: need doc * @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 * @todo TODO: need doc
@ -397,14 +398,14 @@ namespace Oyster
* whenever a collision occurs. * whenever a collision occurs.
* @param functionPointer: If NULL, an empty default function will be set. * @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 * Sets the function that will be called by the engine
* whenever a collision has finished. * whenever a collision has finished.
* @param functionPointer: If NULL, an empty default function will be set. * @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 * 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_Static;
::Oyster::Math::Float frictionCoeff_Dynamic; ::Oyster::Math::Float frictionCoeff_Dynamic;
::Oyster::Physics3D::MomentOfInertia inertiaTensor; ::Oyster::Physics3D::MomentOfInertia inertiaTensor;
::Oyster::Physics::ICustomBody::EventAction_Collision subscription_onCollision; ::Oyster::Physics::ICustomBody::EventAction_BeforeCollisionResponse subscription_onCollision;
::Oyster::Physics::ICustomBody::EventAction_CollisionResponse subscription_onCollisionResponse; ::Oyster::Physics::ICustomBody::EventAction_AfterCollisionResponse subscription_onCollisionResponse;
::Oyster::Physics::ICustomBody::EventAction_Move subscription_onMovement; ::Oyster::Physics::ICustomBody::EventAction_Move subscription_onMovement;
bool ignoreGravity; bool ignoreGravity;
@ -36,8 +36,8 @@ namespace Oyster { namespace Physics
::Oyster::Math::Float restitutionCoeff; ::Oyster::Math::Float restitutionCoeff;
::Oyster::Math::Float frictionCoeff_Static; ::Oyster::Math::Float frictionCoeff_Static;
::Oyster::Math::Float frictionCoeff_Dynamic; ::Oyster::Math::Float frictionCoeff_Dynamic;
::Oyster::Physics::ICustomBody::EventAction_Collision subscription_onCollision; ::Oyster::Physics::ICustomBody::EventAction_BeforeCollisionResponse subscription_onCollision;
::Oyster::Physics::ICustomBody::EventAction_CollisionResponse subscription_onCollisionResponse; ::Oyster::Physics::ICustomBody::EventAction_AfterCollisionResponse subscription_onCollisionResponse;
::Oyster::Physics::ICustomBody::EventAction_Move subscription_onMovement; ::Oyster::Physics::ICustomBody::EventAction_Move subscription_onMovement;
bool ignoreGravity; bool ignoreGravity;