diff --git a/Code/GamePhysics/GamePhysics.vcxproj b/Code/GamePhysics/GamePhysics.vcxproj index 797fdb2c..f3a87a2a 100644 --- a/Code/GamePhysics/GamePhysics.vcxproj +++ b/Code/GamePhysics/GamePhysics.vcxproj @@ -145,7 +145,11 @@ - + + + + + diff --git a/Code/GamePhysics/GamePhysics.vcxproj.filters b/Code/GamePhysics/GamePhysics.vcxproj.filters index b8f7f1a0..07661556 100644 --- a/Code/GamePhysics/GamePhysics.vcxproj.filters +++ b/Code/GamePhysics/GamePhysics.vcxproj.filters @@ -16,16 +16,21 @@ {f2cb55b8-47a0-45c7-8dce-5b93f945a57b} - - {cac9a78f-f09b-4850-b1aa-ea87e8368678} - {792daa4b-b2f7-4664-9529-71a929365274} - + Header Files\Include + + Header Files\Implementation + + + + + Source Files + \ No newline at end of file diff --git a/Code/GamePhysics/Implementation/PhysicsAPI_Impl.cpp b/Code/GamePhysics/Implementation/PhysicsAPI_Impl.cpp new file mode 100644 index 00000000..09d0b1b5 --- /dev/null +++ b/Code/GamePhysics/Implementation/PhysicsAPI_Impl.cpp @@ -0,0 +1,63 @@ +#include "PhysicsAPI_Impl.h" + +using namespace Oyster; +using namespace Physics; + +API_Impl instance; + +API & Instance() +{ + return instance; +} + +API_Impl::API_Impl() +{ + /** @todo TODO: Fix this constructor.*/ +} + +API_Impl::~API_Impl() +{ + /** @todo TODO: Fix this destructor.*/ +} + +void API_Impl::SetDeltaTime( float deltaTime ) +{ + /** @todo TODO: Fix this function.*/ +} +void API_Impl::SetGravityConstant( float g ) +{ + /** @todo TODO: Fix this function.*/ +} +void API_Impl::SetAction( EventAction_Collision functionPointer ) +{ + /** @todo TODO: Fix this function.*/ +} +void API_Impl::SetAction( EventAction_Destruction functionPointer ) +{ + /** @todo TODO: Fix this function.*/ +} + +void API_Impl::Update() +{ + /** @todo TODO: Fix this function.*/ +} + +void API_Impl::MoveToLimbo( unsigned int objRef ) +{ + /** @todo TODO: Fix this function.*/ +} +void API_Impl::ReleaseFromLimbo( unsigned int objRef ) +{ + /** @todo TODO: Fix this function.*/ +} + +unsigned int API_Impl::AddObject( ::Utility::DynamicMemory::UniquePointer handle ) +{ + /** @todo TODO: Fix this function.*/ + + return 0; +} +void API_Impl::DestroyObject( unsigned int objRef ) +{ + /** @todo TODO: Fix this function.*/ +} \ No newline at end of file diff --git a/Code/GamePhysics/Implementation/PhysicsAPI_Impl.h b/Code/GamePhysics/Implementation/PhysicsAPI_Impl.h new file mode 100644 index 00000000..445080b5 --- /dev/null +++ b/Code/GamePhysics/Implementation/PhysicsAPI_Impl.h @@ -0,0 +1,34 @@ +#ifndef PHYSICS_API_IMPL_H +#define PHYSICS_API_IMPL_H + +#include "../PhysicsAPI.h" + +namespace Oyster +{ + namespace Physics + { + class API_Impl : public API + { + public: + API_Impl(); + virtual ~API_Impl(); + + void SetDeltaTime( float deltaTime ); + void SetGravityConstant( float g ); + void SetAction( EventAction_Collision functionPointer ); + void SetAction( EventAction_Destruction functionPointer ); + + void Update(); + + void MoveToLimbo( unsigned int objRef ); + void ReleaseFromLimbo( unsigned int objRef ); + + unsigned int AddObject( ::Utility::DynamicMemory::UniquePointer handle ); + void DestroyObject( unsigned int objRef ); + }; + + } + +} + +#endif \ No newline at end of file diff --git a/Code/GamePhysics/PhysicsAPI.h b/Code/GamePhysics/PhysicsAPI.h new file mode 100644 index 00000000..d9ae0a59 --- /dev/null +++ b/Code/GamePhysics/PhysicsAPI.h @@ -0,0 +1,76 @@ +#ifndef PHYSICS_API_H +#define PHYSICS_API_H + +#include "OysterCollision3D.h" +#include "OysterMath.h" +#include "Utilities.h" + +namespace Oyster +{ + namespace Physics + { + class API; + class IRigidBody; + class IParticle; + + enum UpdateState + { + resting, + altered + }; + + namespace Constant + { + const float gravity_constant = (const float)6.67284e-11; // The _big_G_! ( N(m/kg)^2 ) Used in real gravityforcefields. + } + + class API + { + public: + typedef void (*EventAction_Collision)( unsigned int, unsigned int ); + typedef void (*EventAction_Destruction)( unsigned int, ::Utility::DynamicMemory::UniquePointer ); + + static API & Instance(); + + virtual void SetDeltaTime( float deltaTime ) = 0; + virtual void SetGravityConstant( float g ) = 0; + virtual void SetAction( EventAction_Collision functionPointer ) = 0; + virtual void SetAction( EventAction_Destruction functionPointer ) = 0; + + virtual void Update() = 0; + + virtual bool IsInLimbo( unsigned int objRef ) = 0; + virtual void MoveToLimbo( unsigned int objRef ) = 0; + virtual void ReleaseFromLimbo( unsigned int objRef ) = 0; + + virtual unsigned int AddObject( ::Utility::DynamicMemory::UniquePointer handle ) = 0; + virtual ::Utility::DynamicMemory::UniquePointer ExtractObject( unsigned int objRef ) = 0; + virtual void DestroyObject( unsigned int objRef ) = 0; + }; + + class IRigidBody + { + public: + virtual ~IRigidBody() {}; + + virtual UpdateState Update( ::Oyster::Math::Float timeStepLength ) = 0; + + virtual bool IsSubscribingCollisions() const = 0; + virtual bool IsIntersecting( const IRigidBody &object, ::Oyster::Math::Float &deltaWhen, ::Oyster::Math::Float3 &worldPointOfContact ) = 0; + + virtual unsigned int GetReference() const = 0; + virtual ::Oyster::Collision3D::Sphere & GetBoundingSphere( ::Oyster::Collision3D::Sphere &targetMem = ::Oyster::Collision3D::Sphere() ) const = 0; + virtual ::Oyster::Math::Float3 & GetNormalAt( const ::Oyster::Math::Float3 &worldPos, ::Oyster::Math::Float3 &targetMem = ::Oyster::Math::Float3() ) const = 0; + }; + + class IParticle + { + public: + + }; + } + + namespace Collision + {} +} +#endif \ No newline at end of file diff --git a/Code/OysterMath/LinearMath.h b/Code/OysterMath/LinearMath.h index 4a036e99..ba427bb6 100644 --- a/Code/OysterMath/LinearMath.h +++ b/Code/OysterMath/LinearMath.h @@ -161,6 +161,32 @@ namespace LinearAlgebra2D return targetMem = ::LinearAlgebra::Matrix3x3( c,-s, 0, s, c, 0, 0, 0, 1 ); } + template + inline ::LinearAlgebra::Matrix2x2 & InverseRotationMatrix( const ::LinearAlgebra::Matrix2x2 &rotationMatrix ) + { + return rotationMatrix.GetTranspose(); + } + + template + inline ::LinearAlgebra::Matrix3x3 & InverseRotationMatrix( const ::LinearAlgebra::Matrix3x3 &rotationMatrix ) + { + return rotationMatrix.GetTranspose(); + } + + template + inline ::LinearAlgebra::Matrix3x3 OrientationMatrix( const ::LinearAlgebra::Matrix2x2 &rotation, const ::LinearAlgebra::Vector2 &translation ) + { + return ::LinearAlgebra::Matrix3x3( ::LinearAlgebra::Vector3(rotation.v[0], 0), + ::LinearAlgebra::Vector3(rotation.v[1], 0), + ::LinearAlgebra::Vector3(translation, 1) ); + } + + template + inline ::LinearAlgebra::Matrix3x3 OrientationMatrix( const ::LinearAlgebra::Matrix3x3 &rotation, const ::LinearAlgebra::Vector2 &translation ) + { + return ::LinearAlgebra::Matrix3x3( rotation.v[0], rotation.v[1], ::LinearAlgebra::Vector3(translation, 1) ); + } + template inline ::LinearAlgebra::Matrix3x3 & OrientationMatrix( const ScalarType &radian, const ::LinearAlgebra::Vector2 &position, ::LinearAlgebra::Matrix3x3 &targetMem = ::LinearAlgebra::Matrix3x3() ) { @@ -197,6 +223,12 @@ namespace LinearAlgebra2D orientationMatrix.m12, orientationMatrix.m22, -orientationMatrix.v[1].xy.Dot(orientationMatrix.v[2].xy), 0, 0, 1 ); } + + template + inline ::LinearAlgebra::Matrix3x3 ExtractRotationMatrix( const ::LinearAlgebra::Matrix3x3 &orientationMatrix ) + { + return ::LinearAlgebra::Matrix3x3( orientationMatrix.v[0], orientationMatrix.v[1], ::LinearAlgebra::Vector3::standard_unit_z ); + } } namespace LinearAlgebra3D @@ -283,6 +315,33 @@ namespace LinearAlgebra3D return targetMem; } + template + inline ::LinearAlgebra::Matrix3x3 & InverseRotationMatrix( const ::LinearAlgebra::Matrix3x3 &rotationMatrix ) + { + return rotationMatrix.GetTranspose(); + } + + template + inline ::LinearAlgebra::Matrix4x4 & InverseRotationMatrix( const ::LinearAlgebra::Matrix4x4 &rotationMatrix ) + { + return rotationMatrix.GetTranspose(); + } + + template + inline ::LinearAlgebra::Matrix4x4 OrientationMatrix( const ::LinearAlgebra::Matrix3x3 &rotation, const ::LinearAlgebra::Vector3 &translation ) + { + return ::LinearAlgebra::Matrix4x4( ::LinearAlgebra::Vector4(rotation.v[0], 0), + ::LinearAlgebra::Vector4(rotation.v[1], 0), + ::LinearAlgebra::Vector4(rotation.v[2], 0), + ::LinearAlgebra::Vector4(translation, 1) ); + } + + template + inline ::LinearAlgebra::Matrix4x4 OrientationMatrix( const ::LinearAlgebra::Matrix4x4 &rotation, const ::LinearAlgebra::Vector3 &translation ) + { + return ::LinearAlgebra::Matrix4x4( rotation.v[0], rotation.v[1], rotation.v[2], ::LinearAlgebra::Vector4(translation, 1) ); + } + template ::LinearAlgebra::Matrix4x4 & OrientationMatrix( const ::LinearAlgebra::Vector3 &normalizedAxis, const ScalarType &deltaRadian, const ::LinearAlgebra::Vector3 &sumTranslation, ::LinearAlgebra::Matrix4x4 &targetMem = ::LinearAlgebra::Matrix4x4() ) { /** @todo TODO: not tested */ @@ -327,6 +386,23 @@ namespace LinearAlgebra3D return targetMem; } + template + inline ::LinearAlgebra::Matrix4x4 OrientationMatrix_LookAtDirection( const ::LinearAlgebra::Vector3 &normalizedDirection, const ::LinearAlgebra::Vector3 &normalizedUpVector, const ::LinearAlgebra::Vector3 &worldPos ) + { // Righthanded system! Forward is considered to be along negative z axis. Up is considered along positive y axis. + ::LinearAlgebra::Vector3 right = normalizedDirection.Cross( normalizedUpVector ).GetNormalized(); + return ::LinearAlgebra::Matrix4x4( ::LinearAlgebra::Vector4( right, 0.0f ), + ::LinearAlgebra::Vector4( right.Cross( normalizedDirection ), 0.0f ), + ::LinearAlgebra::Vector4( -normalizedDirection, 0.0f ), + ::LinearAlgebra::Vector4( worldPos, 1.0f ) ); + } + + template + inline ::LinearAlgebra::Matrix4x4 OrientationMatrix_LookAtPos( const ::LinearAlgebra::Vector3 &worldLookAt, const ::LinearAlgebra::Vector3 &normalizedUpVector, const ::LinearAlgebra::Vector3 &worldPos ) + { // Righthanded system! Forward is considered to be along negative z axis. Up is considered along positive y axis. + ::LinearAlgebra::Vector3 direction = ( worldLookAt - worldPos ).GetNormalized(); + return OrientationMatrix_LookAtDirection( direction, normalizedUpVector, worldPos ); + } + template inline ::LinearAlgebra::Matrix4x4 & InverseOrientationMatrix( const ::LinearAlgebra::Matrix4x4 &orientationMatrix, ::LinearAlgebra::Matrix4x4 &targetMem = ::LinearAlgebra::Matrix4x4() ) { @@ -349,6 +425,12 @@ namespace LinearAlgebra3D return orientationMatrix; } + template + inline ::LinearAlgebra::Matrix4x4 ExtractRotationMatrix( const ::LinearAlgebra::Matrix4x4 &orientationMatrix ) + { + return ::LinearAlgebra::Matrix4x4( orientationMatrix.v[0], orientationMatrix.v[1], orientationMatrix.v[2], ::LinearAlgebra::Vector4::standard_unit_w ); + } + /* Creates an orthographic projection matrix designed for DirectX enviroment. width; of the projection sample volume. height; of the projection sample volume. @@ -390,6 +472,10 @@ namespace LinearAlgebra3D template inline ::LinearAlgebra::Vector3 VectorProjection( const ::LinearAlgebra::Vector3 &vector, const ::LinearAlgebra::Vector3 &axis ) { return axis * ( vector.Dot(axis) / axis.Dot(axis) ); } + + template + inline ::LinearAlgebra::Vector3 NormalProjection( const ::LinearAlgebra::Vector3 &vector, const ::LinearAlgebra::Vector3 &normalizedAxis ) + { return normalizedAxis * ( vector.Dot(normalizedAxis) ); } } #include "Utilities.h" diff --git a/Code/OysterMath/OysterMath.cpp b/Code/OysterMath/OysterMath.cpp index 84b46b7b..35df5975 100644 --- a/Code/OysterMath/OysterMath.cpp +++ b/Code/OysterMath/OysterMath.cpp @@ -32,18 +32,51 @@ namespace Oyster { namespace Math2D Float3x3 & RotationMatrix( const Float &radian, Float3x3 &targetMem ) { return ::LinearAlgebra2D::RotationMatrix( radian, targetMem ); } + + Float2x2 & InverseRotationMatrix( const Float2x2 &rotation, Float2x2 &targetMem ) + { + return targetMem = ::LinearAlgebra2D::InverseRotationMatrix( rotation ); + } + + Float3x3 & InverseRotationMatrix( const Float3x3 &rotation, Float3x3 &targetMem ) + { + return targetMem = ::LinearAlgebra2D::InverseRotationMatrix( rotation ); + } + + Float3x3 & OrientationMatrix( const Float2x2 &rotation, const Float2 &translation, Float3x3 &targetMem ) + { + return targetMem = ::LinearAlgebra2D::OrientationMatrix( rotation, translation ); + } + + Float3x3 & OrientationMatrix( const Float3x3 &rotation, const Float2 &translation, Float3x3 &targetMem ) + { + return targetMem = ::LinearAlgebra2D::OrientationMatrix( rotation, translation ); + } Float3x3 & OrientationMatrix( const Float2 &position, const Float &radian, Float3x3 &targetMem ) - { return ::LinearAlgebra2D::OrientationMatrix( radian, position, targetMem ); } + { + return ::LinearAlgebra2D::OrientationMatrix( radian, position, targetMem ); + } Float3x3 & OrientationMatrix( const Float2 &position, const Float2 &lookAt, Float3x3 &targetMem ) - { return ::LinearAlgebra2D::OrientationMatrix( lookAt, position, targetMem ); } + { + return ::LinearAlgebra2D::OrientationMatrix( lookAt, position, targetMem ); + } Float3x3 & OrientationMatrix( const Float2 &position, Float radian, const Float2 &localCenterOfRotation, Float3x3 &targetMem ) - { return ::LinearAlgebra2D::OrientationMatrix( radian, position, localCenterOfRotation, targetMem ); } + { + return ::LinearAlgebra2D::OrientationMatrix( radian, position, localCenterOfRotation, targetMem ); + } Float3x3 & InverseOrientationMatrix( const Float3x3 &orientationMatrix, Float3x3 &targetMem ) - { return ::LinearAlgebra2D::InverseOrientationMatrix( orientationMatrix, targetMem ); } + { + return ::LinearAlgebra2D::InverseOrientationMatrix( orientationMatrix, targetMem ); + } + + Float3x3 & ExtractRotationMatrix( const Float3x3 &orientation, Float3x3 &targetMem ) + { + return targetMem = ::LinearAlgebra2D::ExtractRotationMatrix( orientation ); + } } } namespace Oyster { namespace Math3D @@ -62,30 +95,84 @@ namespace Oyster { namespace Math3D Float4x4 & RotationMatrix( const Float &radian, const Float3 &normalizedAxis, Float4x4 &targetMem ) { return ::LinearAlgebra3D::RotationMatrix( normalizedAxis, radian, targetMem ); } + + Float3x3 & InverseRotationMatrix( const Float3x3 &rotation, Float3x3 &targetMem ) + { + return targetMem = ::LinearAlgebra3D::InverseRotationMatrix( rotation ); + } + + Float4x4 & InverseRotationMatrix( const Float4x4 &rotation, Float4x4 &targetMem ) + { + return targetMem = ::LinearAlgebra3D::InverseRotationMatrix( rotation ); + } + + Float4x4 & OrientationMatrix( const Float3x3 &rotation, const Float3 &translation, Float4x4 &targetMem ) + { + return targetMem = ::LinearAlgebra3D::OrientationMatrix( rotation, translation ); + } + + Float4x4 & OrientationMatrix( const Float4x4 &rotation, const Float3 &translation, Float4x4 &targetMem ) + { + return targetMem = ::LinearAlgebra3D::OrientationMatrix( rotation, translation ); + } Float4x4 & OrientationMatrix( const Float3 &normalizedAxis, const Float & deltaRadian, const Float3 &sumTranslation, Float4x4 &targetMem ) - { return ::LinearAlgebra3D::OrientationMatrix( normalizedAxis, deltaRadian, sumTranslation, targetMem ); } + { + return ::LinearAlgebra3D::OrientationMatrix( normalizedAxis, deltaRadian, sumTranslation, targetMem ); + } Float4x4 & OrientationMatrix( const Float3 &sumDeltaAngularAxis, const Float3 &sumTranslation, Float4x4 &targetMem ) - { return ::LinearAlgebra3D::OrientationMatrix( sumDeltaAngularAxis, sumTranslation, targetMem ); } + { + return ::LinearAlgebra3D::OrientationMatrix( sumDeltaAngularAxis, sumTranslation, targetMem ); + } Float4x4 & OrientationMatrix( const Float3 &sumDeltaAngularAxis, const Float3 &sumTranslation, const Float3 ¢erOfMass, Float4x4 &targetMem ) - { return ::LinearAlgebra3D::OrientationMatrix( sumDeltaAngularAxis, sumTranslation, centerOfMass, targetMem ); } + { + return ::LinearAlgebra3D::OrientationMatrix( sumDeltaAngularAxis, sumTranslation, centerOfMass, targetMem ); + } + + Float4x4 & OrientationMatrix_LookAtDirection( const Float3 &normalizedDirection, const Float3 &normalizedUpVector, const Float3 &worldPos, Float4x4 &targetMem ) + { + return targetMem = ::LinearAlgebra3D::OrientationMatrix_LookAtDirection( normalizedDirection, normalizedUpVector, worldPos ); + } + + Float4x4 & OrientationMatrix_LookAtPos( const Float3 &worldLookAt, const Float3 &normalizedUpVector, const Float3 &worldPos, Float4x4 &targetMem ) + { + return targetMem = ::LinearAlgebra3D::OrientationMatrix_LookAtPos( worldLookAt, normalizedUpVector, worldPos ); + } Float4x4 & InverseOrientationMatrix( const Float4x4 &orientationMatrix, Float4x4 &targetMem ) - { return ::LinearAlgebra3D::InverseOrientationMatrix( orientationMatrix, targetMem ); } + { + return ::LinearAlgebra3D::InverseOrientationMatrix( orientationMatrix, targetMem ); + } Float4x4 & UpdateOrientationMatrix( const Float3 &deltaPosition, const Float4x4 &deltaRotationMatrix, Float4x4 &orientationMatrix ) - { return ::LinearAlgebra3D::UpdateOrientationMatrix( deltaPosition, deltaRotationMatrix, orientationMatrix ); } + { + return ::LinearAlgebra3D::UpdateOrientationMatrix( deltaPosition, deltaRotationMatrix, orientationMatrix ); + } + + Float4x4 & ExtractRotationMatrix( const Float4x4 &orientation, Float4x4 &targetMem ) + { + return targetMem = ::LinearAlgebra3D::ExtractRotationMatrix( orientation ); + } Float4x4 & ProjectionMatrix_Orthographic( const Float &width, const Float &height, const Float &nearClip, const Float &farClip, Float4x4 &targetMem ) - { return ::LinearAlgebra3D::ProjectionMatrix_Orthographic( width, height, nearClip, farClip, targetMem ); } + { + return ::LinearAlgebra3D::ProjectionMatrix_Orthographic( width, height, nearClip, farClip, targetMem ); + } Float4x4 & ProjectionMatrix_Perspective( const Float &verticalFoV, const Float &aspectRatio, const Float &nearClip, const Float &farClip, Float4x4 &targetMem ) - { return ::LinearAlgebra3D::ProjectionMatrix_Perspective( verticalFoV, aspectRatio, nearClip, farClip, targetMem ); } + { + return ::LinearAlgebra3D::ProjectionMatrix_Perspective( verticalFoV, aspectRatio, nearClip, farClip, targetMem ); + } Float3 VectorProjection( const Float3 &vector, const Float3 &axis ) { return ::LinearAlgebra3D::VectorProjection( vector, axis ); } + + Float3 NormalProjection( const Float3 &vector, const Float3 &normalizedAxis ) + { + return ::LinearAlgebra3D::NormalProjection( vector, normalizedAxis ); + } } } \ No newline at end of file diff --git a/Code/OysterMath/OysterMath.h b/Code/OysterMath/OysterMath.h index 07ae50d3..125fd29d 100644 --- a/Code/OysterMath/OysterMath.h +++ b/Code/OysterMath/OysterMath.h @@ -114,6 +114,18 @@ namespace Oyster { namespace Math2D /// Oyster's native math library specialized /// Sets and returns targetMem as a counterclockwise rotationMatrix Float3x3 & RotationMatrix( const Float &radian, Float3x3 &targetMem = Float3x3() ); + /// If rotation is assumed to be by all definitions a rotation matrix. Then this is a much faster inverse method. + Float2x2 & InverseRotationMatrix( const Float2x2 &rotation, Float2x2 &targetMem = Float2x2() ); + + /// If rotation is assumed to be by all definitions a rotation matrix. Then this is a much faster inverse method. + Float3x3 & InverseRotationMatrix( const Float3x3 &rotation, Float3x3 &targetMem = Float3x3() ); + + /// Sets and returns targetMem as an orientation Matrix composed by the rotation matrix and translation vector + Float3x3 & OrientationMatrix( const Float2x2 &rotation, const Float2 &translation, Float3x3 &targetMem = Float3x3() ); + + /// Sets and returns targetMem as an orientation Matrix composed by the rotation matrix and translation vector + Float3x3 & OrientationMatrix( const Float3x3 &rotation, const Float2 &translation, Float3x3 &targetMem = Float3x3() ); + /// Sets and returns targetMem as an orientation Matrix with position as translation and radian rotation Float3x3 & OrientationMatrix( const Float2 &position, const Float &radian, Float3x3 &targetMem = Float3x3() ); @@ -126,6 +138,9 @@ namespace Oyster { namespace Math2D /// Oyster's native math library specialized /// If orientationMatrix is assumed to be by all definitions a rigid orientation matrix aka rigid body matrix. Then this is a much faster inverse method. Float3x3 & InverseOrientationMatrix( const Float3x3 &orientationMatrix, Float3x3 &targetMem = Float3x3() ); + + /// Returns targetmem after writing the rotation data from orientation, into it. + Float3x3 & ExtractRotationMatrix( const Float3x3 &orientation, Float3x3 &targetMem = Float3x3() ); } } namespace Oyster { namespace Math3D /// Oyster's native math library specialized for 3D @@ -148,6 +163,18 @@ namespace Oyster { namespace Math3D /// Oyster's native math library specialized /// Please make sure normalizedAxis is normalized. Float4x4 & RotationMatrix( const Float &radian, const Float3 &normalizedAxis, Float4x4 &targetMem = Float4x4() ); + /// If rotation is assumed to be by all definitions a rotation matrix. Then this is a much faster inverse method. + Float3x3 & InverseRotationMatrix( const Float3x3 &rotation, Float3x3 &targetMem = Float3x3() ); + + /// If rotation is assumed to be by all definitions a rotation matrix. Then this is a much faster inverse method. + Float4x4 & InverseRotationMatrix( const Float4x4 &rotation, Float4x4 &targetMem = Float4x4() ); + + /// Sets and returns targetMem as an orientation Matrix composed by the rotation matrix and translation vector + Float4x4 & OrientationMatrix( const Float3x3 &rotation, const Float3 &translation, Float4x4 &targetMem = Float4x4() ); + + /// Sets and returns targetMem as an orientation Matrix composed by the rotation matrix and translation vector + Float4x4 & OrientationMatrix( const Float4x4 &rotation, const Float3 &translation, Float4x4 &targetMem = Float4x4() ); + /******************************************************************* * Sets and returns targetMem as an orientation Matrix * @param normalizedAxis: The normalized vector parallell with the rotationAxis. @@ -180,6 +207,12 @@ namespace Oyster { namespace Math3D /// Oyster's native math library specialized *******************************************************************/ Float4x4 & OrientationMatrix( const Float3 &sumDeltaAngularAxis, const Float3 &sumTranslation, const Float3 ¢erOfMass, Float4x4 &targetMem = Float4x4() ); + //! @todo TODO: Add documentation and not tested + Float4x4 & OrientationMatrix_LookAtDirection( const Float3 &normalizedDirection, const Float3 &normalizedUpVector, const Float3 &worldPos, Float4x4 &targetMem = Float4x4() ); + + //! @todo TODO: Add documentation and not tested + Float4x4 & OrientationMatrix_LookAtPos( const Float3 &worldLookAt, const Float3 &normalizedUpVector, const Float3 &worldPos, Float4x4 &targetMem = Float4x4() ); + /// If orientationMatrix is assumed to be by all definitions a rigid orientation matrix aka rigid body matrix. Then this is a much faster inverse method. Float4x4 & InverseOrientationMatrix( const Float4x4 &orientationMatrix, Float4x4 &targetMem = Float4x4() ); @@ -187,6 +220,9 @@ namespace Oyster { namespace Math3D /// Oyster's native math library specialized // O1 = T1 * T0 * R1 * R0 Float4x4 & UpdateOrientationMatrix( const Float3 &deltaPosition, const Float4x4 &deltaRotationMatrix, Float4x4 &orientationMatrix ); + /// Returns targetmem after writing the rotation data from orientation, into it. + Float4x4 & ExtractRotationMatrix( const Float4x4 &orientation, Float4x4 &targetMem = Float4x4() ); + /******************************************************************* * Creates an orthographic projection matrix designed for DirectX enviroment. * @param width; of the projection sample volume. @@ -214,14 +250,21 @@ namespace Oyster { namespace Math3D /// Oyster's native math library specialized /// returns the component vector of vector that is parallell with axis Float3 VectorProjection( const Float3 &vector, const Float3 &axis ); + /// returns the component vector of vector that is parallell with axis. Faster than VectorProjection. + Float3 NormalProjection( const Float3 &vector, const Float3 &normalizedAxis ); + /// Helper inline function that sets and then returns targetMem = projection * view inline Float4x4 & ViewProjectionMatrix( const Float4x4 &view, const Float4x4 &projection, Float4x4 &targetMem = Float4x4() ) { return targetMem = projection * view; } - /// Helper inline function that sets and then returns targetMem = transformer * transformee - inline Float4x4 & TransformMatrix( const Float4x4 &transformer, const Float4x4 &transformee, Float4x4 &targetMem = Float4x4() ) + /** Helper inline function that sets and then returns targetMem = transformer * transformee */ + inline Float4x4 & TransformMatrix( const Float4x4 &transformer, const Float4x4 &transformee, Float4x4 &targetMem ) { return targetMem = transformer * transformee; } + /** Helper inline function that sets and then returns transformer * transformee */ + inline Float4x4 TransformMatrix( const Float4x4 &transformer, const Float4x4 &transformee ) + { return transformer * transformee; } + /// Helper inline function that sets and then returns targetMem = transformer * transformee inline Float4 & TransformVector( const Float4x4 &transformer, const Float4 &transformee, Float4 &targetMem = Float4() ) { return targetMem = transformer * transformee; } diff --git a/Code/OysterPhysics3D/Box.cpp b/Code/OysterPhysics3D/Box.cpp index a20b8195..ba97c5c5 100644 --- a/Code/OysterPhysics3D/Box.cpp +++ b/Code/OysterPhysics3D/Box.cpp @@ -8,19 +8,28 @@ using namespace ::Oyster::Collision3D; using namespace ::Oyster::Math3D; -Box::Box( ) : ICollideable(Type_box), orientation(Float4x4::identity), boundingOffset() {} -Box::Box( const Float4x4 &o, const Float3 &s ) : ICollideable(Type_box), orientation(o), boundingOffset(s*0.5) {} +Box::Box( ) + : ICollideable(Type_box), rotation(Float4x4::identity), center(0.0f), boundingOffset(0.5f) +{} + +Box::Box( const Float4x4 &r, const Float3 &p, const Float3 &s ) + : ICollideable(Type_box), rotation(r), center(p), boundingOffset(s*0.5) +{} + Box::~Box( ) {} Box & Box::operator = ( const Box &box ) { - this->orientation = box.orientation; + this->rotation = box.rotation; + this->center = box.center; this->boundingOffset = box.boundingOffset; return *this; } ::Utility::DynamicMemory::UniquePointer Box::Clone( ) const -{ return ::Utility::DynamicMemory::UniquePointer( new Box(*this) ); } +{ + return ::Utility::DynamicMemory::UniquePointer( new Box(*this) ); +} bool Box::Intersects( const ICollideable *target ) const { @@ -31,10 +40,10 @@ bool Box::Intersects( const ICollideable *target ) const case Type_ray: return Utility::Intersect( *this, *(Ray*)target, ((Ray*)target)->collisionDistance ); case Type_sphere: return Utility::Intersect( *this, *(Sphere*)target ); case Type_plane: return Utility::Intersect( *this, *(Plane*)target ); - case Type_triangle: return false; // TODO: : + // case Type_triangle: return false; // TODO: : case Type_box_axis_aligned: return Utility::Intersect( *this, *(BoxAxisAligned*)target ); case Type_box: return Utility::Intersect( *this, *(Box*)target ); - case Type_frustrum: return false; // TODO: : + // case Type_frustrum: return false; // TODO: : default: return false; } } @@ -44,11 +53,11 @@ bool Box::Contains( const ICollideable *target ) const switch( target->type ) { case Type_point: return Utility::Intersect( *this, *(Point*)target ); - case Type_sphere: return false; // TODO: - case Type_triangle: return false; // TODO: - case Type_box_axis_aligned: return false; // TODO: - case Type_box: return false; // TODO: - case Type_frustrum: return false; // TODO: + // case Type_sphere: return false; // TODO: + // case Type_triangle: return false; // TODO: + // case Type_box_axis_aligned: return false; // TODO: + // case Type_box: return false; // TODO: + // case Type_frustrum: return false; // TODO: default: return false; } } \ No newline at end of file diff --git a/Code/OysterPhysics3D/Box.h b/Code/OysterPhysics3D/Box.h index 034639d0..ee46d6b6 100644 --- a/Code/OysterPhysics3D/Box.h +++ b/Code/OysterPhysics3D/Box.h @@ -16,19 +16,18 @@ namespace Oyster { namespace Collision3D public: union { - struct{ ::Oyster::Math::Float4x4 orientation; ::Oyster::Math::Float3 boundingOffset; }; + struct{ ::Oyster::Math::Float4x4 rotation; ::Oyster::Math::Float3 center, boundingOffset; }; struct { ::Oyster::Math::Float3 xAxis; ::Oyster::Math::Float paddingA; ::Oyster::Math::Float3 yAxis; ::Oyster::Math::Float paddingB; ::Oyster::Math::Float3 zAxis; ::Oyster::Math::Float paddingC; - ::Oyster::Math::Float3 center; }; - char byte[sizeof(::Oyster::Math::Float4x4) + sizeof(::Oyster::Math::Float3)]; + char byte[sizeof(::Oyster::Math::Float4x4) + 2*sizeof(::Oyster::Math::Float3)]; }; Box( ); - Box( const ::Oyster::Math::Float4x4 &orientation, const ::Oyster::Math::Float3 &size ); + Box( const ::Oyster::Math::Float4x4 &rotation, const ::Oyster::Math::Float3 &worldPos, const ::Oyster::Math::Float3 &size ); virtual ~Box( ); Box & operator = ( const Box &box ); diff --git a/Code/OysterPhysics3D/BoxAxisAligned.cpp b/Code/OysterPhysics3D/BoxAxisAligned.cpp index c782ed25..04bc53f1 100644 --- a/Code/OysterPhysics3D/BoxAxisAligned.cpp +++ b/Code/OysterPhysics3D/BoxAxisAligned.cpp @@ -33,10 +33,10 @@ bool BoxAxisAligned::Intersects( const ICollideable *target ) const case Type_ray: return Utility::Intersect( *this, *(Ray*)target, ((Ray*)target)->collisionDistance ); case Type_sphere: return Utility::Intersect( *this, *(Sphere*)target ); case Type_plane: return Utility::Intersect( *this, *(Plane*)target ); - case Type_triangle: return false; // TODO: + // case Type_triangle: return false; // TODO: case Type_box_axis_aligned: return Utility::Intersect( *this, *(BoxAxisAligned*)target ); - case Type_box: return false; // TODO: - case Type_frustrum: return false; // TODO: + // case Type_box: return false; // TODO: + // case Type_frustrum: return false; // TODO: default: return false; } } @@ -45,12 +45,12 @@ bool BoxAxisAligned::Contains( const ICollideable *target ) const { switch( target->type ) { - case Type_point: return false; // TODO: - case Type_sphere: return false; // TODO: - case Type_triangle: return false; // TODO: - case Type_box_axis_aligned: return false; // TODO: - case Type_box: return false; // TODO: - case Type_frustrum: return false; // TODO: + // case Type_point: return false; // TODO: + // case Type_sphere: return false; // TODO: + // case Type_triangle: return false; // TODO: + // case Type_box_axis_aligned: return false; // TODO: + // case Type_box: return false; // TODO: + // case Type_frustrum: return false; // TODO: default: return false; } } \ No newline at end of file diff --git a/Code/OysterPhysics3D/Frustrum.cpp b/Code/OysterPhysics3D/Frustrum.cpp index e4da0ce9..9e45f579 100644 --- a/Code/OysterPhysics3D/Frustrum.cpp +++ b/Code/OysterPhysics3D/Frustrum.cpp @@ -200,11 +200,11 @@ bool Frustrum::Intersects( const ICollideable *target ) const case Type_ray: return Utility::Intersect( *this, *(Ray*)target, ((Ray*)target)->collisionDistance ); case Type_sphere: return Utility::Intersect( *this, *(Sphere*)target ); case Type_plane: return Utility::Intersect( *this, *(Plane*)target ); - case Type_triangle: return false; // TODO: + // case Type_triangle: return false; // TODO: case Type_box_axis_aligned: return Utility::Intersect( *this, *(BoxAxisAligned*)target ); case Type_box: return Utility::Intersect( *this, *(Box*)target ); case Type_frustrum: return Utility::Intersect( *this, *(Frustrum*)target ); - case Type_line: return false; // TODO: + // case Type_line: return false; // TODO: default: return false; } } @@ -214,14 +214,14 @@ bool Frustrum::Contains( const ICollideable *target ) const switch( target->type ) { case Type_point: return Utility::Intersect( *this, *(Point*)target ); - case Type_ray: return false; // TODO: - case Type_sphere: return false; // TODO: - case Type_plane: return false; // TODO: - case Type_triangle: return false; // TODO: - case Type_box_axis_aligned: return false; // TODO: - case Type_box: return false; // TODO: - case Type_frustrum: return false; // TODO: - case Type_line: return false; // TODO: + // case Type_ray: return false; // TODO: + // case Type_sphere: return false; // TODO: + // case Type_plane: return false; // TODO: + // case Type_triangle: return false; // TODO: + // case Type_box_axis_aligned: return false; // TODO: + // case Type_box: return false; // TODO: + // case Type_frustrum: return false; // TODO: + // case Type_line: return false; // TODO: default: return false; } } \ No newline at end of file diff --git a/Code/OysterPhysics3D/ICollideable.h b/Code/OysterPhysics3D/ICollideable.h index aa6c7891..4b620506 100644 --- a/Code/OysterPhysics3D/ICollideable.h +++ b/Code/OysterPhysics3D/ICollideable.h @@ -21,7 +21,7 @@ namespace Oyster { namespace Collision3D /// Contains a collection of 3D shapes Type_ray, Type_sphere, Type_plane, - Type_triangle, + // Type_triangle, Type_box_axis_aligned, Type_box, Type_frustrum, diff --git a/Code/OysterPhysics3D/OysterCollision3D.cpp b/Code/OysterPhysics3D/OysterCollision3D.cpp index 5cb5a1bc..131cad62 100644 --- a/Code/OysterPhysics3D/OysterCollision3D.cpp +++ b/Code/OysterPhysics3D/OysterCollision3D.cpp @@ -6,7 +6,8 @@ #include "Utilities.h" #include -using namespace Oyster::Math3D; +using namespace ::Oyster::Math3D; +using namespace ::Utility::Value; namespace Oyster { namespace Collision3D { namespace Utility { @@ -19,13 +20,13 @@ namespace Oyster { namespace Collision3D { namespace Utility // Float calculations can suffer roundingerrors. Which is where epsilon = 1e-20 comes into the picture inline bool EqualsZero( const Float &value ) { // by Dan Andersson - return ::Utility::Value::Abs( value ) < epsilon; + return Abs( value ) < epsilon; } // Float calculations can suffer roundingerrors. Which is where epsilon = 1e-20 comes into the picture inline bool NotEqualsZero( const Float &value ) { // by Dan Andersson - return ::Utility::Value::Abs( value ) > epsilon; + return Abs( value ) > epsilon; } // returns true if miss/reject @@ -39,8 +40,8 @@ namespace Oyster { namespace Collision3D { namespace Utility t2 = e - boundingOffset; t1 /= f; t2 /= f; if( t1 > t2 ) ::Utility::Element::Swap( t1, t2 ); - tMin = ::Utility::Value::Max( tMin, t1 ); - tMax = ::Utility::Value::Min( tMax, t2 ); + tMin = Max( tMin, t1 ); + tMax = Min( tMax, t2 ); if( tMin > tMax ) return true; if( tMax < 0.0f ) return true; } @@ -65,101 +66,140 @@ namespace Oyster { namespace Collision3D { namespace Utility { // by Dan Andersson Float3 c = (box.maxVertex + box.minVertex) * 0.5f, // box.Center h = (box.maxVertex - box.minVertex) * 0.5f; // box.halfSize - boxExtend = h.x * ::Utility::Value::Abs(plane.normal.x); // Box max extending towards plane - boxExtend += h.y * ::Utility::Value::Abs(plane.normal.y); - boxExtend += h.z * ::Utility::Value::Abs(plane.normal.z); + boxExtend = h.x * Abs(plane.normal.x); // Box max extending towards plane + boxExtend += h.y * Abs(plane.normal.y); + boxExtend += h.z * Abs(plane.normal.z); centerDistance = c.Dot(plane.normal) + plane.phasing; // distance between box center and plane } void Compare( Float &boxExtend, Float ¢erDistance, const Plane &plane, const Box &box ) { // by Dan Andersson - boxExtend = box.boundingOffset.x * ::Utility::Value::Abs(plane.normal.Dot(box.orientation.v[0].xyz)); // Box max extending towards plane - boxExtend += box.boundingOffset.y * ::Utility::Value::Abs(plane.normal.Dot(box.orientation.v[1].xyz)); - boxExtend += box.boundingOffset.z * ::Utility::Value::Abs(plane.normal.Dot(box.orientation.v[2].xyz)); + boxExtend = box.boundingOffset.x * Abs(plane.normal.Dot(box.xAxis)); // Box max extending towards plane + boxExtend += box.boundingOffset.y * Abs(plane.normal.Dot(box.yAxis)); + boxExtend += box.boundingOffset.z * Abs(plane.normal.Dot(box.zAxis)); - centerDistance = box.orientation.v[3].xyz.Dot(plane.normal) + plane.phasing; // distance between box center and plane + centerDistance = box.center.Dot(plane.normal) + plane.phasing; // distance between box center and plane } - bool FifteenAxisVsAlignedAxisOverlappingChecks( const Float3 &boundingOffsetA, const Float3 &boundingOffsetB, const Float4x4 &orientationB ) - { // by Dan Andersson - Float4x4 absOrientationB; - { - Float4x4 tO = orientationB.GetTranspose(); - absOrientationB.v[0] = ::Utility::Value::Abs(tO.v[0]); - if( absOrientationB.v[0].w > boundingOffsetA.x + boundingOffsetB.Dot(absOrientationB.v[0].xyz) ) return false; - absOrientationB.v[1] = ::Utility::Value::Abs(tO.v[1]); - if( absOrientationB.v[1].w > boundingOffsetA.y + boundingOffsetB.Dot(absOrientationB.v[1].xyz) ) return false; - absOrientationB.v[2] = ::Utility::Value::Abs(tO.v[2]); - if( absOrientationB.v[2].w > boundingOffsetA.z + boundingOffsetB.Dot(absOrientationB.v[2].xyz) ) return false; + bool SeperatingAxisTest_AxisAlignedVsTransformedBox( const Float3 &boundingOffsetA, const Float3 &boundingOffsetB, const Float4x4 &rotationB, const Float3 &worldOffset ) + { // by Dan Andersson + + /***************************************************************** + * Uses the Seperating Axis Theorem + * if( |t dot s| > hA dot |s * RA| + hB dot |s * RB| ) then not intersecting + * |t dot s| > hA dot |s| + hB dot |s * RB| .. as RA = I + * + * t: objectB's offset from objectA [worldOffset] + * s: current comparison axis + * hA: boundingReach vector of objectA. Only absolute values is assumed. [boundingOffsetA] + * hB: boundingReach vector of objectB. Only absolute values is assumed. [boundingOffsetB] + * RA: rotation matrix of objectA. Is identity matrix here, thus omitted. + * RB: rotation matrix of objectB. Is transformed into objectA's view at this point. [rotationB] + * + * Note: s * RB = (RB^T * s)^T = (RB^-1 * s)^T .... vector == vector^T + *****************************************************************/ + + Float4x4 absRotationB = Abs(rotationB); + Float3 absWorldOffset = Abs(worldOffset); // |t|: [absWorldOffset] + + // s = { 1, 0, 0 } [ RA.v[0] ] + if( absWorldOffset.x > boundingOffsetA.x + boundingOffsetB.Dot(Float3(absRotationB.v[0].x, absRotationB.v[1].x, absRotationB.v[2].x)) ) + { // |t dot s| > hA dot |s| + hB dot |s * RB| -->> t.x > hA.x + hB dot |{RB.v[0].x, RB.v[1].x, RB.v[2].x}| + return false; } - absOrientationB.Transpose(); - if( ::Utility::Value::Abs(orientationB.v[3].Dot(orientationB.v[0])) > boundingOffsetB.x + boundingOffsetA.Dot(absOrientationB.v[0].xyz) ) return false; - if( ::Utility::Value::Abs(orientationB.v[3].Dot(orientationB.v[1])) > boundingOffsetB.x + boundingOffsetA.Dot(absOrientationB.v[1].xyz) ) return false; - if( ::Utility::Value::Abs(orientationB.v[3].Dot(orientationB.v[2])) > boundingOffsetB.x + boundingOffsetA.Dot(absOrientationB.v[2].xyz) ) return false; + // s = { 0, 1, 0 } [ RA.v[1] ] + if( absWorldOffset.y > boundingOffsetA.y + boundingOffsetB.Dot(Float3(absRotationB.v[0].y, absRotationB.v[1].y, absRotationB.v[2].y)) ) + { // t.y > hA.y + hB dot |{RB.v[0].y, RB.v[1].y, RB.v[2].y}| + return false; + } + + // s = { 0, 0, 1 } [ RA.v[2] ] + if( absWorldOffset.z > boundingOffsetA.z + boundingOffsetB.Dot(Float3(absRotationB.v[0].z, absRotationB.v[1].z, absRotationB.v[2].z)) ) + { // t.z > hA.z + hB dot |{RB.v[0].z, RB.v[1].z, RB.v[2].z}| + return false; + } + + // s = RB.v[0].xyz + if( Abs(worldOffset.Dot(rotationB.v[0].xyz)) > boundingOffsetA.Dot(absRotationB.v[0].xyz) + boundingOffsetB.x ) + { // |t dot s| > hA dot |s| + hB dot |s * RB| -->> |t dot s| > hA dot |s| + hB dot |{1, 0, 0}| -->> |t dot s| > hA dot |s| + hB.x + return false; + } + + // s = RB.v[1].xyz + if( Abs(worldOffset.Dot(rotationB.v[1].xyz)) > boundingOffsetA.Dot(absRotationB.v[1].xyz) + boundingOffsetB.y ) + { // |t dot s| > hA dot |s| + hB.y + return false; + } + + // s = RB.v[2].xyz + if( Abs(worldOffset.Dot(rotationB.v[2].xyz)) > boundingOffsetA.Dot(absRotationB.v[2].xyz) + boundingOffsetB.z ) + { // |t dot s| > hA dot |s| + hB.z + return false; + } + + // s = ( 1,0,0 ) x rotationB.v[0].xyz: + Float d = boundingOffsetA.y * absRotationB.v[0].z; + d += boundingOffsetA.z * absRotationB.v[0].y; + d += boundingOffsetB.y * absRotationB.v[2].x; + d += boundingOffsetB.z * absRotationB.v[1].x; + if( Abs(worldOffset.z*rotationB.v[0].y - worldOffset.y*rotationB.v[0].z) > d ) return false; + + // s = ( 1,0,0 ) x rotationB.v[1].xyz: + d = boundingOffsetA.y * absRotationB.v[1].z; + d += boundingOffsetA.z * absRotationB.v[1].y; + d += boundingOffsetB.x * absRotationB.v[2].x; + d += boundingOffsetB.z * absRotationB.v[0].x; + if( Abs(worldOffset.z*rotationB.v[1].y - worldOffset.y*rotationB.v[1].z) > d ) return false; + + // s = ( 1,0,0 ) x rotationB.v[2].xyz: + d = boundingOffsetA.y * absRotationB.v[2].z; + d += boundingOffsetA.z * absRotationB.v[2].y; + d += boundingOffsetB.x * absRotationB.v[1].x; + d += boundingOffsetB.y * absRotationB.v[0].x; + if( Abs(worldOffset.z*rotationB.v[2].y - worldOffset.y*rotationB.v[2].z) > d ) return false; + + // s = ( 0,1,0 ) x rotationB.v[0].xyz: + d = boundingOffsetA.x * absRotationB.v[0].z; + d += boundingOffsetA.z * absRotationB.v[0].x; + d += boundingOffsetB.y * absRotationB.v[2].y; + d += boundingOffsetB.z * absRotationB.v[1].y; + if( Abs(worldOffset.x*rotationB.v[0].z - worldOffset.z*rotationB.v[0].x) > d ) return false; - // ( 1,0,0 ) x orientationB.v[0].xyz: - Float d = boundingOffsetA.y * absOrientationB.v[0].z; - d += boundingOffsetA.z * absOrientationB.v[0].y; - d += boundingOffsetB.y * absOrientationB.v[2].x; - d += boundingOffsetB.z * absOrientationB.v[1].x; - if( ::Utility::Value::Abs(orientationB.v[3].z*orientationB.v[0].y - orientationB.v[3].y*orientationB.v[0].z) > d ) return false; + // s = ( 0,1,0 ) x rotationB.v[1].xyz: + d = boundingOffsetA.x * absRotationB.v[1].z; + d += boundingOffsetA.z * absRotationB.v[1].x; + d += boundingOffsetB.x * absRotationB.v[2].y; + d += boundingOffsetB.z * absRotationB.v[0].y; + if( Abs(worldOffset.x*rotationB.v[1].z - worldOffset.z*rotationB.v[1].x) > d ) return false; - // ( 1,0,0 ) x orientationB.v[1].xyz: - d = boundingOffsetA.y * absOrientationB.v[1].z; - d += boundingOffsetA.z * absOrientationB.v[1].y; - d += boundingOffsetB.x * absOrientationB.v[2].x; - d += boundingOffsetB.z * absOrientationB.v[0].x; - if( ::Utility::Value::Abs(orientationB.v[3].z*orientationB.v[1].y - orientationB.v[3].y*orientationB.v[1].z) > d ) return false; + // s = ( 0,1,0 ) x rotationB.v[2].xyz: + d = boundingOffsetA.x * absRotationB.v[2].z; + d += boundingOffsetA.z * absRotationB.v[2].x; + d += boundingOffsetB.x * absRotationB.v[1].y; + d += boundingOffsetB.y * absRotationB.v[0].y; + if( Abs(worldOffset.x*rotationB.v[2].z - worldOffset.z*rotationB.v[2].x) > d ) return false; - // ( 1,0,0 ) x orientationB.v[2].xyz: - d = boundingOffsetA.y * absOrientationB.v[2].z; - d += boundingOffsetA.z * absOrientationB.v[2].y; - d += boundingOffsetB.x * absOrientationB.v[1].x; - d += boundingOffsetB.y * absOrientationB.v[0].x; - if( ::Utility::Value::Abs(orientationB.v[3].z*orientationB.v[2].y - orientationB.v[3].y*orientationB.v[2].z) > d ) return false; + // s = ( 0,0,1 ) x rotationB.v[0].xyz: + d = boundingOffsetA.x * absRotationB.v[0].y; + d += boundingOffsetA.y * absRotationB.v[0].x; + d += boundingOffsetB.y * absRotationB.v[2].z; + d += boundingOffsetB.z * absRotationB.v[1].z; + if( Abs(worldOffset.y*rotationB.v[0].x - worldOffset.x*rotationB.v[0].y) > d ) return false; - // ( 0,1,0 ) x orientationB.v[0].xyz: - d = boundingOffsetA.x * absOrientationB.v[0].z; - d += boundingOffsetA.z * absOrientationB.v[0].x; - d += boundingOffsetB.y * absOrientationB.v[2].y; - d += boundingOffsetB.z * absOrientationB.v[1].y; - if( ::Utility::Value::Abs(orientationB.v[3].x*orientationB.v[0].z - orientationB.v[3].z*orientationB.v[0].x) > d ) return false; - - // ( 0,1,0 ) x orientationB.v[1].xyz: - d = boundingOffsetA.x * absOrientationB.v[1].z; - d += boundingOffsetA.z * absOrientationB.v[1].x; - d += boundingOffsetB.x * absOrientationB.v[2].y; - d += boundingOffsetB.z * absOrientationB.v[0].y; - if( ::Utility::Value::Abs(orientationB.v[3].x*orientationB.v[1].z - orientationB.v[3].z*orientationB.v[1].x) > d ) return false; + // s = ( 0,0,1 ) x rotationB.v[1].xyz: + d = boundingOffsetA.x * absRotationB.v[1].y; + d += boundingOffsetA.y * absRotationB.v[1].x; + d += boundingOffsetB.x * absRotationB.v[2].z; + d += boundingOffsetB.z * absRotationB.v[0].z; + if( Abs(worldOffset.y*rotationB.v[1].x - worldOffset.x*rotationB.v[1].y) > d ) return false; - // ( 0,1,0 ) x orientationB.v[2].xyz: - d = boundingOffsetA.x * absOrientationB.v[2].z; - d += boundingOffsetA.z * absOrientationB.v[2].x; - d += boundingOffsetB.x * absOrientationB.v[1].y; - d += boundingOffsetB.y * absOrientationB.v[0].y; - if( ::Utility::Value::Abs(orientationB.v[3].x*orientationB.v[2].z - orientationB.v[3].z*orientationB.v[2].x) > d ) return false; - - // ( 0,0,1 ) x orientationB.v[0].xyz: - d = boundingOffsetA.x * absOrientationB.v[0].y; - d += boundingOffsetA.y * absOrientationB.v[0].x; - d += boundingOffsetB.y * absOrientationB.v[2].z; - d += boundingOffsetB.z * absOrientationB.v[1].z; - if( ::Utility::Value::Abs(orientationB.v[3].y*orientationB.v[0].x - orientationB.v[3].x*orientationB.v[0].y) > d ) return false; - - // ( 0,0,1 ) x orientationB.v[1].xyz: - d = boundingOffsetA.x * absOrientationB.v[1].y; - d += boundingOffsetA.y * absOrientationB.v[1].x; - d += boundingOffsetB.x * absOrientationB.v[2].z; - d += boundingOffsetB.z * absOrientationB.v[0].z; - if( ::Utility::Value::Abs(orientationB.v[3].y*orientationB.v[1].x - orientationB.v[3].x*orientationB.v[1].y) > d ) return false; - - // ( 0,0,1 ) x orientationB.v[2].xyz: - d = boundingOffsetA.x * absOrientationB.v[2].y; - d += boundingOffsetA.y * absOrientationB.v[2].x; - d += boundingOffsetB.x * absOrientationB.v[1].z; - d += boundingOffsetB.y * absOrientationB.v[0].z; - if( ::Utility::Value::Abs(orientationB.v[3].y*orientationB.v[2].x - orientationB.v[3].x*orientationB.v[2].y) > d ) return false; + // s = ( 0,0,1 ) x rotationB.v[2].xyz: + d = boundingOffsetA.x * absRotationB.v[2].y; + d += boundingOffsetA.y * absRotationB.v[2].x; + d += boundingOffsetB.x * absRotationB.v[1].z; + d += boundingOffsetB.y * absRotationB.v[0].z; + if( Abs(worldOffset.y*rotationB.v[2].x - worldOffset.x*rotationB.v[2].y) > d ) return false; return true; } @@ -353,8 +393,8 @@ namespace Oyster { namespace Collision3D { namespace Utility bool Intersect( const BoxAxisAligned &box, const Sphere &sphere ) { // by Dan Andersson - Float3 e = ::Utility::Value::Max( box.minVertex - sphere.center, Float3::null ); - e += ::Utility::Value::Max( sphere.center - box.maxVertex, Float3::null ); + Float3 e = Max( box.minVertex - sphere.center, Float3::null ); + e += Max( sphere.center - box.maxVertex, Float3::null ); if( e.Dot(e) > (sphere.radius * sphere.radius) ) return false; return true; @@ -385,17 +425,17 @@ namespace Oyster { namespace Collision3D { namespace Utility bool Intersect( const Box &box, const Point &point ) { // by Dan Andersson - Float3 dPos = point.center - box.orientation.v[3].xyz; + Float3 dPos = point.center - box.center; - Float coordinate = dPos.Dot( box.orientation.v[0].xyz ); + Float coordinate = dPos.Dot( box.xAxis ); if( coordinate > box.boundingOffset.x ) return false; if( coordinate < -box.boundingOffset.x ) return false; - coordinate = dPos.Dot( box.orientation.v[1].xyz ); + coordinate = dPos.Dot( box.yAxis ); if( coordinate > box.boundingOffset.y ) return false; if( coordinate < -box.boundingOffset.y ) return false; - coordinate = dPos.Dot( box.orientation.v[2].xyz ); + coordinate = dPos.Dot( box.zAxis ); if( coordinate > box.boundingOffset.z ) return false; if( coordinate < -box.boundingOffset.z ) return false; @@ -419,11 +459,11 @@ namespace Oyster { namespace Collision3D { namespace Utility bool Intersect( const Box &box, const Sphere &sphere ) { // by Dan Andersson - Float3 e = sphere.center - box.orientation.v[3].xyz, - centerL = Float3( e.Dot(box.orientation.v[0].xyz), e.Dot(box.orientation.v[1].xyz), e.Dot(box.orientation.v[2].xyz) ); + Float3 e = sphere.center - box.center, + centerL = Float3( e.Dot(box.xAxis), e.Dot(box.yAxis), e.Dot(box.zAxis) ); - e = ::Utility::Value::Max( (box.boundingOffset + centerL)*=-1.0f, Float3::null ); - e += ::Utility::Value::Max( centerL - box.boundingOffset, Float3::null ); + e = Max( (box.boundingOffset + centerL)*=-1.0f, Float3::null ); + e += Max( centerL - box.boundingOffset, Float3::null ); if( e.Dot(e) > (sphere.radius * sphere.radius) ) return false; return true; @@ -440,20 +480,20 @@ namespace Oyster { namespace Collision3D { namespace Utility bool Intersect( const Box &boxA, const BoxAxisAligned &boxB ) { // by Dan Andersson - Float3 alignedOffsetBoundaries = boxB.maxVertex - boxB.minVertex; - Float4x4 translated = boxA.orientation; - translated.v[3].xyz -= boxB.minVertex; - translated.v[3].xyz += alignedOffsetBoundaries * 0.5f; - alignedOffsetBoundaries = ::Utility::Value::Abs(alignedOffsetBoundaries); - return Private::FifteenAxisVsAlignedAxisOverlappingChecks( alignedOffsetBoundaries, boxA.boundingOffset, translated ); + Float3 alignedOffsetBoundaries = (boxB.maxVertex - boxB.minVertex) * 0.5f, + offset = boxA.center - Average( boxB.minVertex, boxB.maxVertex ); + return Private::SeperatingAxisTest_AxisAlignedVsTransformedBox( alignedOffsetBoundaries, boxA.boundingOffset, boxA.rotation, offset ); } bool Intersect( const Box &boxA, const Box &boxB ) { // by Dan Andersson - Float4x4 M; - InverseOrientationMatrix( boxA.orientation, M ); - TransformMatrix( M, boxB.orientation, M ); /// TODO: not verified - return Private::FifteenAxisVsAlignedAxisOverlappingChecks( boxA.boundingOffset, boxB.boundingOffset, M ); + Float4x4 orientationA = OrientationMatrix(boxA.rotation, boxA.center), + orientationB = OrientationMatrix(boxB.rotation, boxB.center), + invOrientationA = InverseOrientationMatrix( orientationA ); + + orientationB = TransformMatrix( invOrientationA, orientationB ); + + return Private::SeperatingAxisTest_AxisAlignedVsTransformedBox( boxA.boundingOffset, boxB.boundingOffset, ExtractRotationMatrix(orientationB), orientationB.v[3].xyz ); } bool Intersect( const Frustrum &frustrum, const Point &point ) @@ -490,37 +530,37 @@ namespace Oyster { namespace Collision3D { namespace Utility if( Intersect(frustrum.leftPlane, ray, distance) ) { intersected = true; - connectDistance = ::Utility::Value::Min( connectDistance, distance ); + connectDistance = Min( connectDistance, distance ); } if( Intersect(frustrum.rightPlane, ray, distance) ) { intersected = true; - connectDistance = ::Utility::Value::Min( connectDistance, distance ); + connectDistance = Min( connectDistance, distance ); } if( Intersect(frustrum.bottomPlane, ray, distance) ) { intersected = true; - connectDistance = ::Utility::Value::Min( connectDistance, distance ); + connectDistance = Min( connectDistance, distance ); } if( Intersect(frustrum.topPlane, ray, distance) ) { intersected = true; - connectDistance = ::Utility::Value::Min( connectDistance, distance ); + connectDistance = Min( connectDistance, distance ); } if( Intersect(frustrum.nearPlane, ray, distance) ) { intersected = true; - connectDistance = ::Utility::Value::Min( connectDistance, distance ); + connectDistance = Min( connectDistance, distance ); } if( Intersect(frustrum.farPlane, ray, distance) ) { intersected = true; - connectDistance = ::Utility::Value::Min( connectDistance, distance ); + connectDistance = Min( connectDistance, distance ); } if( intersected ) return true; diff --git a/Code/OysterPhysics3D/OysterPhysics3D.h b/Code/OysterPhysics3D/OysterPhysics3D.h index a5d58c0b..ca9948a8 100644 --- a/Code/OysterPhysics3D/OysterPhysics3D.h +++ b/Code/OysterPhysics3D/OysterPhysics3D.h @@ -49,7 +49,7 @@ namespace Oyster { namespace Physics3D } /****************************************************************** - * Returns the local angular momentum of a mass in rotation. + * Returns the world angular momentum of a mass in rotation. * @todo TODO: improve doc ******************************************************************/ inline ::Oyster::Math::Float3 AngularMomentum( const ::Oyster::Math::Float4x4 &momentOfInertia, const ::Oyster::Math::Float3 &angularVelocity ) @@ -58,39 +58,39 @@ namespace Oyster { namespace Physics3D } /****************************************************************** - * Returns the local angular momentum of a mass in rotation. + * Returns the world angular momentum of a mass in rotation. * @todo TODO: improve doc ******************************************************************/ - inline ::Oyster::Math::Float3 AngularMomentum( const ::Oyster::Math::Float3 linearMomentum, const ::Oyster::Math::Float3 &offset ) + inline ::Oyster::Math::Float3 AngularMomentum( const ::Oyster::Math::Float3 linearMomentum, const ::Oyster::Math::Float3 &worldOffset ) { - return offset.Cross( linearMomentum ); + return worldOffset.Cross( linearMomentum ); } /****************************************************************** - * Returns the local tangential momentum at localPos, of a mass in rotation. + * Returns the world tangential momentum at worldPos, of a mass in rotation. * @todo TODO: improve doc ******************************************************************/ - inline ::Oyster::Math::Float3 TangentialLinearMomentum( const ::Oyster::Math::Float3 &angularMomentum, const ::Oyster::Math::Float3 &localOffset ) + inline ::Oyster::Math::Float3 TangentialLinearMomentum( const ::Oyster::Math::Float3 &angularMomentum, const ::Oyster::Math::Float3 &worldOffset ) { - return angularMomentum.Cross( localOffset ); + return angularMomentum.Cross( worldOffset ); } /****************************************************************** - * Returns the local tangential momentum at localPos, of a mass in rotation. + * Returns the world tangential momentum at worldPos, of a mass in rotation. * @todo TODO: improve doc ******************************************************************/ - inline ::Oyster::Math::Float3 TangentialLinearMomentum( const ::Oyster::Math::Float4x4 &momentOfInertia, const ::Oyster::Math::Float3 &angularVelocity, const ::Oyster::Math::Float3 &localOffset ) + inline ::Oyster::Math::Float3 TangentialLinearMomentum( const ::Oyster::Math::Float4x4 &momentOfInertia, const ::Oyster::Math::Float3 &angularVelocity, const ::Oyster::Math::Float3 &worldOffset ) { - return TangentialLinearMomentum( AngularMomentum(momentOfInertia, angularVelocity), localOffset ); + return TangentialLinearMomentum( AngularMomentum(momentOfInertia, angularVelocity), worldOffset ); } /****************************************************************** - * Returns the local impulse force at localPos, of a mass in angular acceleration. + * Returns the world impulse force at worldPos, of a mass in angular acceleration. * @todo TODO: improve doc ******************************************************************/ - inline ::Oyster::Math::Float3 TangentialImpulseForce( const ::Oyster::Math::Float3 &impulseTorque, const ::Oyster::Math::Float3 &localOffset ) + inline ::Oyster::Math::Float3 TangentialImpulseForce( const ::Oyster::Math::Float3 &impulseTorque, const ::Oyster::Math::Float3 &worldOffset ) { - return impulseTorque.Cross( localOffset ); + return impulseTorque.Cross( worldOffset ); } /****************************************************************** @@ -106,22 +106,22 @@ namespace Oyster { namespace Physics3D * * @todo TODO: improve doc ******************************************************************/ - inline ::Oyster::Math::Float3 AngularImpulseAcceleration( const ::Oyster::Math::Float3 &linearImpulseAcceleration, const ::Oyster::Math::Float3 &offset ) + inline ::Oyster::Math::Float3 AngularImpulseAcceleration( const ::Oyster::Math::Float3 &linearImpulseAcceleration, const ::Oyster::Math::Float3 &worldOffset ) { - return offset.Cross( linearImpulseAcceleration ); + return worldOffset.Cross( linearImpulseAcceleration ); } /****************************************************************** - * Returns the local impulse acceleration at localPos, of a mass in angular acceleration. + * Returns the world impulse acceleration at ( worldOffset = worldPos - body's center of gravity ), of a mass in angular acceleration. * @todo TODO: improve doc ******************************************************************/ - inline ::Oyster::Math::Float3 TangentialImpulseAcceleration( const ::Oyster::Math::Float4x4 &momentOfInertiaInversed, const ::Oyster::Math::Float3 &impulseTorque, const ::Oyster::Math::Float3 &localOffset ) + inline ::Oyster::Math::Float3 TangentialImpulseAcceleration( const ::Oyster::Math::Float4x4 &worldMomentOfInertiaInversed, const ::Oyster::Math::Float3 &worldImpulseTorque, const ::Oyster::Math::Float3 &worldOffset ) { - return AngularImpulseAcceleration( momentOfInertiaInversed, impulseTorque ).Cross( localOffset ); + return AngularImpulseAcceleration( worldMomentOfInertiaInversed, worldImpulseTorque ).Cross( worldOffset ); } /****************************************************************** - * Returns the local angular velocity of a mass in rotation. + * Returns the world angular velocity of a mass in rotation. * @todo TODO: improve doc ******************************************************************/ inline ::Oyster::Math::Float3 AngularVelocity( const ::Oyster::Math::Float4x4 &momentOfInertiaInversed, const ::Oyster::Math::Float3 &angularMomentum ) @@ -130,21 +130,30 @@ namespace Oyster { namespace Physics3D } /****************************************************************** - * Returns the local tangential velocity at localPos, of a mass in rotation. + * Returns the world angular velocity of a mass in rotation. * @todo TODO: improve doc ******************************************************************/ - inline ::Oyster::Math::Float3 TangentialLinearVelocity( const ::Oyster::Math::Float3 &angularVelocity, const ::Oyster::Math::Float3 &offset ) + inline ::Oyster::Math::Float3 AngularVelocity( const ::Oyster::Math::Float3 &linearVelocity, const ::Oyster::Math::Float3 &worldOffset ) { - return angularVelocity.Cross( offset ); + return worldOffset.Cross( linearVelocity ); } /****************************************************************** - * Returns the local tangential velocity at localPos, of a mass in rotation. + * Returns the world tangential velocity at worldPos, of a mass in rotation. * @todo TODO: improve doc ******************************************************************/ - inline ::Oyster::Math::Float3 TangentialLinearVelocity( const ::Oyster::Math::Float4x4 &momentOfInertiaInversed, const ::Oyster::Math::Float3 &angularMomentum, const ::Oyster::Math::Float3 &offset ) + inline ::Oyster::Math::Float3 TangentialLinearVelocity( const ::Oyster::Math::Float3 &angularVelocity, const ::Oyster::Math::Float3 &worldOffset ) { - return TangentialLinearVelocity( AngularVelocity(momentOfInertiaInversed, angularMomentum), offset ); + return angularVelocity.Cross( worldOffset ); + } + + /****************************************************************** + * Returns the world tangential velocity at worldPos, of a mass in rotation. + * @todo TODO: improve doc + ******************************************************************/ + inline ::Oyster::Math::Float3 TangentialLinearVelocity( const ::Oyster::Math::Float4x4 &momentOfInertiaInversed, const ::Oyster::Math::Float3 &angularMomentum, const ::Oyster::Math::Float3 &worldOffset ) + { + return TangentialLinearVelocity( AngularVelocity(momentOfInertiaInversed, angularMomentum), worldOffset ); } /****************************************************************** @@ -169,9 +178,9 @@ namespace Oyster { namespace Physics3D * * @todo TODO: improve doc ******************************************************************/ - inline ::Oyster::Math::Float3 ImpulseTorque( const ::Oyster::Math::Float3 & impulseForce, const ::Oyster::Math::Float3 &offset ) + inline ::Oyster::Math::Float3 ImpulseTorque( const ::Oyster::Math::Float3 & impulseForce, const ::Oyster::Math::Float3 &worldOffset ) { - return offset.Cross( impulseForce ); + return worldOffset.Cross( impulseForce ); } /****************************************************************** @@ -183,6 +192,12 @@ namespace Oyster { namespace Physics3D return ( momentOfInertia * ::Oyster::Math::Float4(angularImpulseAcceleration, 0.0f) ).xyz; } + inline ::Oyster::Math::Float3 Impulse( ) + { + //! @todo TODO: implement calculation for impulse. Hijack Mattias Eriksson + return ::Oyster::Math::Float3::null; + } + namespace MomentOfInertia { /// Library of Formulas to calculate moment of inerta for simple shapes /** @todo TODO: add MomentOfInertia tensor formulas */ diff --git a/Code/OysterPhysics3D/RigidBody.cpp b/Code/OysterPhysics3D/RigidBody.cpp index fff6b994..214a1aee 100644 --- a/Code/OysterPhysics3D/RigidBody.cpp +++ b/Code/OysterPhysics3D/RigidBody.cpp @@ -39,20 +39,21 @@ RigidBody & RigidBody::operator = ( const RigidBody &body ) void RigidBody::Update_LeapFrog( Float deltaTime ) { // by Dan Andersson: Euler leap frog update when Runga Kutta is not needed + // Important! The member data is all world data except the Inertia tensor. Thus a new InertiaTensor needs to be created to be compatible with the rest of the world data. + Float4x4 wMomentOfInertiaTensor = TransformMatrix( this->box.rotation, this->momentOfInertiaTensor ); // RI + // updating the linear - // dv = dt * a = dt * F / m - // ds = dt * avg_v - Float3 deltaLinearVelocity = this->impulseForceSum; - deltaLinearVelocity *= (deltaTime / this->mass); - Float3 deltaPos = deltaTime * ::Utility::Value::AverageWithDelta( Formula::LinearVelocity(this->mass, this->linearMomentum), deltaLinearVelocity ); + // dG = F * dt + // ds = dt * Formula::LinearVelocity( m, avg_G ) = dt * avg_G / m = (dt / m) * avg_G + Float3 linearImpulse = this->impulseForceSum * deltaTime; // aka deltaLinearMomentum + Float3 deltaPos = ( deltaTime / this->mass ) * ::Utility::Value::AverageWithDelta( this->linearMomentum, linearImpulse ); // updating the angular - // dw = dt * a = dt * ( I^-1 * T ) - // rotation = dt * avg_w - Float4x4 inversedMomentOfInertiaTensor = this->momentOfInertiaTensor.GetInverse(); - Float3 deltaAngularVelocity = Formula::AngularImpulseAcceleration( inversedMomentOfInertiaTensor, this->impulseTorqueSum ); // I^-1 * T - deltaAngularVelocity *= deltaTime; - Float3 rotationAxis = ::Utility::Value::AverageWithDelta( Formula::AngularVelocity(inversedMomentOfInertiaTensor,this->angularMomentum), deltaAngularVelocity ); + // dH = T * dt + // dO = dt * Formula::AngularVelocity( (RI)^-1, avg_H ) = dt * (RI)^-1 * avg_H + Float3 angularImpulse = this->impulseTorqueSum * deltaTime; // aka deltaAngularMomentum + Float3 rotationAxis = Formula::AngularVelocity( wMomentOfInertiaTensor.GetInverse(), + ::Utility::Value::AverageWithDelta(this->angularMomentum, angularImpulse) ); Float deltaRadian = rotationAxis.Dot( rotationAxis ); if( deltaRadian != 0.0f ) @@ -60,95 +61,72 @@ void RigidBody::Update_LeapFrog( Float deltaTime ) deltaRadian = ::std::sqrt( deltaRadian ); rotationAxis /= deltaRadian; - // using rotationAxis, deltaRadian and deltaPos to create a matrix to update the orientation matrix - UpdateOrientationMatrix( deltaPos, RotationMatrix(deltaRadian, rotationAxis), this->box.orientation ); - - /** @todo TODO: ISSUE! how is momentOfInertiaTensor related to the orientation of the RigidBody? */ + // using rotationAxis, deltaRadian and deltaPos to create a matrix to update the box + this->box.center += deltaPos; + TransformMatrix( RotationMatrix(deltaRadian, rotationAxis), this->box.rotation, this->box.rotation ); } else { // no rotation, only use deltaPos to translate the RigidBody this->box.center += deltaPos; } - // update movements and clear impulses - this->linearMomentum += Formula::LinearMomentum( this->mass, deltaLinearVelocity ); + // update momentums and clear impulseForceSum and impulseTorqueSum + this->linearMomentum += linearImpulse; this->impulseForceSum = Float3::null; - this->angularMomentum += Formula::AngularMomentum( this->momentOfInertiaTensor, deltaAngularVelocity ); + this->angularMomentum += angularImpulse; this->impulseTorqueSum = Float3::null; } -void RigidBody::ApplyImpulseForce( const Float3 &f ) +void RigidBody::ApplyImpulseForce( const Float3 &worldF ) { // 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 - if( localOffset != Float3::null ) + Float3 worldOffset = worldPos - this->box.center; + if( worldOffset != Float3::null ) { - this->impulseForceSum += VectorProjection( localForce, localOffset ); - this->impulseTorqueSum += Formula::ImpulseTorque( localForce, localOffset ); + this->impulseForceSum += VectorProjection( worldF, worldOffset ); + this->impulseTorqueSum += Formula::ImpulseTorque( worldF, worldOffset ); } 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 - Float4x4 view = this->GetView(); - 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 + this->impulseForceSum += Formula::ImpulseForce( this->mass, worldA ); } -void RigidBody::ApplyLinearImpulseAcceleration( const Float3 &a ) +void RigidBody::ApplyLinearImpulseAccelerationAt( const Float3 &worldA, const Float3 &worldPos ) { // by Dan Andersson - this->impulseForceSum += Formula::ImpulseForce( this->mass, a ); -} - -void RigidBody::ApplyLinearImpulseAccelerationAt_Local( const Float3 &localImpulseLinearAcc, const Float3 &localOffset ) -{ // by Dan Andersson - if( localOffset != Float3::null ) + Float3 worldOffset = worldPos - this->box.center; + if( worldOffset != Float3::null ) { - this->impulseForceSum += Formula::ImpulseForce( this->mass, VectorProjection(localImpulseLinearAcc, localOffset) ); + this->impulseForceSum += Formula::ImpulseForce( this->mass, VectorProjection(worldA, worldOffset) ); // tanAcc = angularAcc x localPosition // angularAcc = localPosition x tanAcc = localPosition x linearAcc // T = I * angularAcc - this->impulseTorqueSum += Formula::ImpulseTorque( this->momentOfInertiaTensor, Formula::AngularImpulseAcceleration(localImpulseLinearAcc, localOffset) ); + this->impulseTorqueSum += Formula::ImpulseTorque( this->momentOfInertiaTensor, Formula::AngularImpulseAcceleration(worldA, worldOffset) ); } 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 - Float4x4 view = this->GetView(); - 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 + this->impulseTorqueSum += worldT; } -void RigidBody::ApplyImpulseTorque( const Float3 &t ) +void RigidBody::ApplyAngularImpulseAcceleration( const Float3 &worldA ) { // by Dan Andersson - this->impulseTorqueSum += t; -} - -void RigidBody::ApplyAngularImpulseAcceleration( const Float3 &a ) -{ // by Dan Andersson - this->impulseTorqueSum += Formula::ImpulseTorque( this->momentOfInertiaTensor, a ); -} - -Float4x4 & RigidBody::AccessOrientation() -{ // by Dan Andersson - return this->box.orientation; -} - -const Float4x4 & RigidBody::AccessOrientation() const -{ // by Dan Andersson - return this->box.orientation; + this->impulseTorqueSum += Formula::ImpulseTorque( this->momentOfInertiaTensor, worldA ); } Float3 & RigidBody::AccessBoundingReach() @@ -181,14 +159,14 @@ const Float & RigidBody::GetMass() const return this->mass; } -const Float4x4 & RigidBody::GetOrientation() const +const Float4x4 RigidBody::GetOrientation() const { // by Dan Andersson - return this->box.orientation; + return OrientationMatrix( this->box.rotation, this->box.center ); } Float4x4 RigidBody::GetView() const { // by Dan Andersson - return InverseOrientationMatrix( this->box.orientation ); + return InverseOrientationMatrix( this->GetOrientation() ); } const Float3 & RigidBody::GetBoundingReach() const @@ -246,106 +224,21 @@ Float3 RigidBody::GetLinearVelocity() const return Formula::LinearVelocity( this->mass, this->linearMomentum ); } -Float3 RigidBody::GetTangentialImpulseForceAt_Local( const Float3 &localPos ) const -{ // by Dan Andersson - return Formula::TangentialImpulseForce( this->impulseTorqueSum, localPos ); +void RigidBody::GetMomentumAt( const Float3 &worldPos, const Float3 &surfaceNormal, Float3 &normalMomentum, Float3 &tangentialMomentum ) const +{ + Float3 worldOffset = worldPos - this->box.center; + Float3 momentum = Formula::TangentialLinearMomentum( this->angularMomentum, worldOffset ); + momentum += this->linearMomentum; + + normalMomentum = NormalProjection( momentum, surfaceNormal ); + tangentialMomentum = momentum - normalMomentum; } -Float3 RigidBody::GetTangentialImpulseForceAt_World( const Float3 &worldPos ) const +void RigidBody::SetMomentOfInertia( const Float4x4 &localI ) { // by Dan Andersson - return this->GetTangentialImpulseForceAt_Local( (this->GetView() * Float4(worldPos, 1.0f)).xyz ); // should not be any disform thus result.w = 1.0f -} - -Float3 RigidBody::GetTangentialLinearMomentumAt_Local( const Float3 &localPos ) const -{ // by Dan Andersson - return Formula::TangentialLinearMomentum( this->angularMomentum, localPos ); -} - -Float3 RigidBody::GetTangentialLinearMomentumAt_World( const Float3 &worldPos ) const -{ // by Dan Andersson - return this->GetTangentialLinearMomentumAt_Local( (this->GetView() * Float4(worldPos, 1.0f)).xyz ); // should not be any disform thus result.w = 1.0f -} - -Float3 RigidBody::GetTangentialImpulseAccelerationAt_Local( const Float3 &localPos ) const -{ // by Dan Andersson - return Formula::TangentialImpulseAcceleration( this->momentOfInertiaTensor.GetInverse(), this->impulseTorqueSum, localPos ); -} - -Float3 RigidBody::GetTangentialImpulseAccelerationAt_World( const Float3 &worldPos ) const -{ // by Dan Andersson - return this->GetTangentialImpulseAccelerationAt_Local( (this->GetView() * Float4(worldPos, 1.0f)).xyz ); // should not be any disform thus result.w = 1.0f -} - -Float3 RigidBody::GetTangentialLinearVelocityAt_Local( const Float3 &localPos ) const -{ // by Dan Andersson - return Formula::TangentialLinearVelocity( this->momentOfInertiaTensor.GetInverse(), this->angularMomentum, localPos ); -} - -Float3 RigidBody::GetTangentialLinearVelocityAt_World( const Float3 &worldPos ) const -{ // by Dan Andersson - return this->GetTangentialLinearVelocityAt_Local( (this->GetView() * Float4(worldPos, 1.0f)).xyz ); // should not be any disform thus result.w = 1.0f -} - -Float3 RigidBody::GetImpulseForceAt_Local( const Float3 &localPos ) const -{ // by Dan Andersson - return this->impulseForceSum + Formula::TangentialImpulseForce( this->impulseForceSum, localPos ); -} - -Float3 RigidBody::GetImpulseForceAt_World( const Float3 &worldPos ) const -{ // by Dan Andersson - Float4 localForce = Float4( this->GetImpulseForceAt_Local((this->GetView() * Float4(worldPos, 1.0f)).xyz), 0.0f ); // should not be any disform thus result.w = 1.0f - return (this->box.orientation * localForce).xyz; // should not be any disform thus result.w = 0.0f -} - -Float3 RigidBody::GetLinearMomentumAt_Local( const Float3 &localPos ) const -{ // by Dan Andersson - // Reminder! Momentum is a world value. - return Float3::null; // TODO: -} - -Float3 RigidBody::GetLinearMomentumAt_World( const Float3 &worldPos ) const -{ // by Dan Andersson - // Reminder! Momentum is a world value. - Float4 localMomentum = Float4( this->GetLinearMomentumAt_Local((this->GetView() * Float4(worldPos, 1.0f)).xyz), 0.0f ); // should not be any disform thus result.w = 1.0f - return (this->box.orientation * localMomentum).xyz; // should not be any disform thus result.w = 0.0f - - // TODO: angularMomentum is a local value!! - return this->linearMomentum + Formula::TangentialLinearMomentum( this->angularMomentum, worldPos ); -} - -Float3 RigidBody::GetImpulseAccelerationAt_Local( const Float3 &localPos ) const -{ // by Dan Andersson - // Reminder! Acceleration is a world value. - Float4 worldAccel = Float4( this->GetImpulseAccelerationAt_Local((this->box.orientation * Float4(localPos, 1.0f)).xyz), 0.0f ); // should not be any disform thus result.w = 1.0f - return (this->GetView() * worldAccel).xyz; // should not be any disform thus result.w = 0.0f -} - -Float3 RigidBody::GetImpulseAccelerationAt_World( const Float3 &worldPos ) const -{ // by Dan Andersson - // Reminder! Acceleration is a world value. - return Formula::LinearImpulseAcceleration( this->mass, this->impulseForceSum ) - + Formula::TangentialImpulseAcceleration( this->momentOfInertiaTensor.GetInverse(), this->impulseTorqueSum, worldPos ); -} - -Float3 RigidBody::GetLinearVelocityAt_Local( const Float3 &localPos ) const -{ // by Dan Andersson - // Reminder! Velocity is a world value. - Float4 worldV = Float4( this->GetLinearVelocityAt_Local((this->box.orientation * Float4(localPos, 1.0f)).xyz), 0.0f ); // should not be any disform thus result.w = 1.0f - return (this->GetView() * worldV).xyz; // should not be any disform thus result.w = 0.0f -} - -Float3 RigidBody::GetLinearVelocityAt_World( const Float3 &worldPos ) const -{ // by Dan Andersson - // Reminder! Velocity is a world value. - return Formula::LinearVelocity( this->mass, this->linearMomentum ) - + Formula::TangentialLinearVelocity( this->momentOfInertiaTensor.GetInverse(), this->angularMomentum, worldPos ); -} - -void RigidBody::SetMomentOfInertia( const Float4x4 &i ) -{ // by Dan Andersson - if( i.GetDeterminant() != 0.0f ) // insanitycheck! momentOfInertiaTensor must be invertable + if( localI.GetDeterminant() != 0.0f ) // insanitycheck! momentOfInertiaTensor must be invertable { - this->momentOfInertiaTensor = i; + this->momentOfInertiaTensor = localI; } } @@ -369,7 +262,8 @@ void RigidBody::SetMass_KeepMomentum( const Float &m ) void RigidBody::SetOrientation( const Float4x4 &o ) { // by Dan Andersson - this->box.orientation = o; + ExtractRotationMatrix( o, this->box.rotation ); + this->box.center = o.v[3].xyz; } void RigidBody::SetSize( const Float3 &widthHeight ) @@ -377,98 +271,77 @@ void RigidBody::SetSize( const Float3 &widthHeight ) this->box.boundingOffset = 0.5f * widthHeight; } -void RigidBody::SetCenter( const Float3 &p ) +void RigidBody::SetCenter( const Float3 &worldPos ) { // by Dan Andersson - this->box.center = p; + this->box.center = worldPos; } -void RigidBody::SetImpulseTorque( const Float3 &t ) +void RigidBody::SetImpulseTorque( const Float3 &worldT ) { // by Dan Andersson - this->impulseTorqueSum = t; + this->impulseTorqueSum = worldT; } -void RigidBody::SetAngularMomentum( const Float3 &h ) +void RigidBody::SetAngularMomentum( const Float3 &worldH ) { // by Dan Andersson - this->angularMomentum = h; + this->angularMomentum = worldH; } -void RigidBody::SetAngularImpulseAcceleration( const Float3 &a ) +void RigidBody::SetAngularImpulseAcceleration( const Float3 &worldA ) { // by Dan Andersson - this->impulseTorqueSum = Formula::ImpulseTorque( this->momentOfInertiaTensor, a ); + this->impulseTorqueSum = Formula::ImpulseTorque( this->momentOfInertiaTensor, worldA ); } -void RigidBody::SetAngularVelocity( const Float3 &w ) +void RigidBody::SetAngularVelocity( const Float3 &worldW ) { // by Dan Andersson - this->angularMomentum = Formula::AngularMomentum( this->momentOfInertiaTensor, w ); + this->angularMomentum = Formula::AngularMomentum( this->momentOfInertiaTensor, worldW ); } -void RigidBody::SetImpulseForce( const Float3 &f ) +void RigidBody::SetImpulseForce( const Float3 &worldF ) { // by Dan Andersson - this->impulseForceSum = f; + this->impulseForceSum = worldF; } -void RigidBody::SetLinearMomentum( const Float3 &g ) +void RigidBody::SetLinearMomentum( const Float3 &worldG ) { // by Dan Andersson - this->linearMomentum = g; + this->linearMomentum = worldG; } -void RigidBody::SetLinearImpulseAcceleration( const Float3 &a ) +void RigidBody::SetLinearImpulseAcceleration( const Float3 &worldA ) { // by Dan Andersson - this->impulseForceSum = Formula::ImpulseForce( this->mass, a ); + this->impulseForceSum = Formula::ImpulseForce( this->mass, worldA ); } -void RigidBody::SetLinearVelocity( const Float3 &v ) +void RigidBody::SetLinearVelocity( const Float3 &worldV ) { // by Dan Andersson - this->linearMomentum = Formula::LinearMomentum( this->mass, v ); + this->linearMomentum = Formula::LinearMomentum( this->mass, worldV ); } -void RigidBody::SetImpulseForceAt_Local( const Float3 &localForce, const Float3 &localPos ) +void RigidBody::SetImpulseForceAt( const Float3 &worldForce, const Float3 &worldPos ) { // by Dan Andersson - // Reminder! Impulse force and torque is world values. - Float3 worldForce = ( this->box.orientation * Float4(localForce, 0.0f) ).xyz, - worldPos = ( this->box.orientation * Float4(localPos, 1.0f) ).xyz; - this->SetImpulseForceAt_World( worldForce, worldPos ); - + Float3 worldOffset = worldPos - this->box.center; + this->impulseForceSum = VectorProjection( worldForce, worldOffset ); + this->impulseTorqueSum = Formula::ImpulseTorque( worldForce, worldOffset ); } -void RigidBody::SetImpulseForceAt_World( const Float3 &worldForce, const Float3 &worldPos ) +void RigidBody::SetLinearMomentumAt( const Float3 &worldG, const Float3 &worldPos ) { // by Dan Andersson - // Reminder! Impulse force and torque is world values. - this->impulseForceSum = VectorProjection( worldForce, worldPos ); - this->impulseTorqueSum = Formula::ImpulseTorque( worldForce, worldPos ); + Float3 worldOffset = worldPos - this->box.center; + this->linearMomentum = VectorProjection( worldG, worldOffset ); + this->angularMomentum = Formula::AngularMomentum( worldG, worldOffset ); } -void RigidBody::SetLinearMomentumAt_Local( const Float3 &localG, const Float3 &localPos ) +void RigidBody::SetImpulseAccelerationAt( const Float3 &worldA, const Float3 &worldPos ) { // by Dan Andersson - // Reminder! Linear and angular momentum is world values. - Float3 worldG = ( this->box.orientation * Float4(localG, 0.0f) ).xyz, - worldPos = ( this->box.orientation * Float4(localPos, 1.0f) ).xyz; - this->SetLinearMomentumAt_World( worldG, worldPos ); + Float3 worldOffset = worldPos - this->box.center; + this->impulseForceSum = Formula::ImpulseForce( this->mass, VectorProjection(worldA, worldOffset) ); + this->impulseTorqueSum = Formula::ImpulseTorque( this->box.rotation * this->momentOfInertiaTensor, + Formula::AngularImpulseAcceleration(worldA, worldOffset) ); } -void RigidBody::SetLinearMomentumAt_World( const Float3 &worldG, const Float3 &worldPos ) +void RigidBody::SetLinearVelocityAt( const Float3 &worldV, const Float3 &worldPos ) { // by Dan Andersson - // Reminder! Linear and angular momentum is world values. - this->linearMomentum = VectorProjection( worldG, worldPos ); - this->angularMomentum = Formula::AngularMomentum( worldG, worldPos ); -} - -void RigidBody::SetImpulseAccelerationAt_Local( const Float3 &a, const Float3 &pos ) -{ // by Dan Andersson - -} - -void RigidBody::SetImpulseAccelerationAt_World( const Float3 &a, const Float3 &pos ) -{ // by - -} - -void RigidBody::SetLinearVelocityAt_Local( const Float3 &v, const Float3 &pos ) -{ // by - -} - -void RigidBody::SetLinearVelocityAt_World( const Float3 &v, const Float3 &pos ) -{ // by - + Float3 worldOffset = worldPos - this->box.center; + this->linearMomentum = Formula::LinearMomentum( this->mass, VectorProjection(worldV, worldOffset) ); + this->angularMomentum = Formula::AngularMomentum( this->box.rotation * this->momentOfInertiaTensor, + Formula::AngularVelocity(worldV, worldOffset) ); } \ No newline at end of file diff --git a/Code/OysterPhysics3D/RigidBody.h b/Code/OysterPhysics3D/RigidBody.h index a2d32f95..19ce6bb2 100644 --- a/Code/OysterPhysics3D/RigidBody.h +++ b/Code/OysterPhysics3D/RigidBody.h @@ -14,30 +14,26 @@ namespace Oyster { namespace Physics3D struct RigidBody { /// A struct of a simple rigid body. public: - ::Oyster::Collision3D::Box box; /// Contains data representing physical presence. - ::Oyster::Math::Float3 angularMomentum, /// The angular momentum H (Nm*s) around an parallell axis. - linearMomentum, /// The linear momentum G (kg*m/s). - impulseTorqueSum, /// The impulse torque T (Nm) that will be consumed each update. - impulseForceSum; /// The impulse force F (N) that will be consumed each update. + ::Oyster::Collision3D::Box box; /** Contains data representing physical presence. (worldValue) */ + ::Oyster::Math::Float3 angularMomentum, /** The angular momentum H (Nm*s) around an parallell axis. (worldValue) */ + linearMomentum, /** The linear momentum G (kg*m/s). (worldValue) */ + impulseTorqueSum, /** The impulse torque T (Nm) that will be consumed each update. (worldValue) */ + impulseForceSum; /** The impulse force F (N) that will be consumed each update. (worldValue) */ RigidBody( const ::Oyster::Collision3D::Box &box = ::Oyster::Collision3D::Box(), ::Oyster::Math::Float mass = 1.0f ); RigidBody & operator = ( const RigidBody &body ); void Update_LeapFrog( ::Oyster::Math::Float deltaTime ); - void ApplyImpulseForce( const ::Oyster::Math::Float3 &f ); - void ApplyImpulseForceAt_Local( const ::Oyster::Math::Float3 &f, const ::Oyster::Math::Float3 &pos ); - void ApplyImpulseForceAt_World( const ::Oyster::Math::Float3 &f, const ::Oyster::Math::Float3 &pos ); /// ApplyImpulseForce_LocalPos is preferred - void ApplyLinearImpulseAcceleration( const ::Oyster::Math::Float3 &a ); - void ApplyLinearImpulseAccelerationAt_Local( const ::Oyster::Math::Float3 &a, const ::Oyster::Math::Float3 &pos ); - void ApplyLinearImpulseAccelerationAt_World( const ::Oyster::Math::Float3 &a, const ::Oyster::Math::Float3 &pos ); /// ApplyLinearImpulseAcceleration_LocalPos is preferred - void ApplyImpulseTorque( const ::Oyster::Math::Float3 &t ); - void ApplyAngularImpulseAcceleration( const ::Oyster::Math::Float3 &a ); + void ApplyImpulseForce( const ::Oyster::Math::Float3 &worldF ); + void ApplyImpulseForceAt( const ::Oyster::Math::Float3 &worldF, const ::Oyster::Math::Float3 &worldPos ); + void ApplyLinearImpulseAcceleration( const ::Oyster::Math::Float3 &worldA ); + void ApplyLinearImpulseAccelerationAt( const ::Oyster::Math::Float3 &worldA, const ::Oyster::Math::Float3 &worldPos ); + void ApplyImpulseTorque( const ::Oyster::Math::Float3 &worldT ); + void ApplyAngularImpulseAcceleration( const ::Oyster::Math::Float3 &worldA ); // ACCESS METHODS ///////////////////////////// - ::Oyster::Math::Float4x4 & AccessOrientation(); - const ::Oyster::Math::Float4x4 & AccessOrientation() const; ::Oyster::Math::Float3 & AccessBoundingReach(); const ::Oyster::Math::Float3 & AccessBoundingReach() const; ::Oyster::Math::Float3 & AccessCenter(); @@ -48,7 +44,7 @@ namespace Oyster { namespace Physics3D const ::Oyster::Math::Float4x4 & GetMomentOfInertia() const; const ::Oyster::Math::Float & GetMass() const; - const ::Oyster::Math::Float4x4 & GetOrientation() const; + const ::Oyster::Math::Float4x4 GetOrientation() const; ::Oyster::Math::Float4x4 GetView() const; const ::Oyster::Math::Float4x4 & GetToWorldMatrix() const; ::Oyster::Math::Float4x4 GetToLocalMatrix() const; @@ -68,56 +64,36 @@ namespace Oyster { namespace Physics3D ::Oyster::Math::Float3 GetLinearImpulseAcceleration() const; ::Oyster::Math::Float3 GetLinearVelocity() const; - ::Oyster::Math::Float3 GetTangentialImpulseForceAt_Local( const ::Oyster::Math::Float3 &pos ) const; - ::Oyster::Math::Float3 GetTangentialImpulseForceAt_World( const ::Oyster::Math::Float3 &pos ) const; - ::Oyster::Math::Float3 GetTangentialLinearMomentumAt_Local( const ::Oyster::Math::Float3 &pos ) const; - ::Oyster::Math::Float3 GetTangentialLinearMomentumAt_World( const ::Oyster::Math::Float3 &pos ) const; - ::Oyster::Math::Float3 GetTangentialImpulseAccelerationAt_Local( const ::Oyster::Math::Float3 &pos ) const; - ::Oyster::Math::Float3 GetTangentialImpulseAccelerationAt_World( const ::Oyster::Math::Float3 &pos ) const; - ::Oyster::Math::Float3 GetTangentialLinearVelocityAt_Local( const ::Oyster::Math::Float3 &pos ) const; - ::Oyster::Math::Float3 GetTangentialLinearVelocityAt_World( const ::Oyster::Math::Float3 &pos ) const; - - ::Oyster::Math::Float3 GetImpulseForceAt_Local( const ::Oyster::Math::Float3 &pos ) const; - ::Oyster::Math::Float3 GetImpulseForceAt_World( const ::Oyster::Math::Float3 &pos ) const; - ::Oyster::Math::Float3 GetLinearMomentumAt_Local( const ::Oyster::Math::Float3 &pos ) const; - ::Oyster::Math::Float3 GetLinearMomentumAt_World( const ::Oyster::Math::Float3 &pos ) const; - ::Oyster::Math::Float3 GetImpulseAccelerationAt_Local( const ::Oyster::Math::Float3 &pos ) const; - ::Oyster::Math::Float3 GetImpulseAccelerationAt_World( const ::Oyster::Math::Float3 &pos ) const; - ::Oyster::Math::Float3 GetLinearVelocityAt_Local( const ::Oyster::Math::Float3 &pos ) const; - ::Oyster::Math::Float3 GetLinearVelocityAt_World( const ::Oyster::Math::Float3 &pos ) const; + void GetMomentumAt( const ::Oyster::Math::Float3 &worldPos, const ::Oyster::Math::Float3 &surfaceNormal, ::Oyster::Math::Float3 &normalMomentum, ::Oyster::Math::Float3 &tangentialMomentum ) const; // SET METHODS //////////////////////////////// - void SetMomentOfInertia( const ::Oyster::Math::Float4x4 &i ); + void SetMomentOfInertia( const ::Oyster::Math::Float4x4 &localI ); void SetMass_KeepVelocity( const ::Oyster::Math::Float &m ); void SetMass_KeepMomentum( const ::Oyster::Math::Float &m ); void SetOrientation( const ::Oyster::Math::Float4x4 &o ); void SetSize( const ::Oyster::Math::Float3 &widthHeight ); - void SetCenter( const ::Oyster::Math::Float3 &p ); + void SetCenter( const ::Oyster::Math::Float3 &worldPos ); - void SetImpulseTorque( const ::Oyster::Math::Float3 &t ); - void SetAngularMomentum( const ::Oyster::Math::Float3 &h ); - void SetAngularImpulseAcceleration( const ::Oyster::Math::Float3 &a ); - void SetAngularVelocity( const ::Oyster::Math::Float3 &w ); + void SetImpulseTorque( const ::Oyster::Math::Float3 &worldT ); + void SetAngularMomentum( const ::Oyster::Math::Float3 &worldH ); + void SetAngularImpulseAcceleration( const ::Oyster::Math::Float3 &worldA ); + void SetAngularVelocity( const ::Oyster::Math::Float3 &worldW ); - void SetImpulseForce( const ::Oyster::Math::Float3 &f ); - void SetLinearMomentum( const ::Oyster::Math::Float3 &g ); - void SetLinearImpulseAcceleration( const ::Oyster::Math::Float3 &a ); - void SetLinearVelocity( const ::Oyster::Math::Float3 &v ); + void SetImpulseForce( const ::Oyster::Math::Float3 &worldF ); + void SetLinearMomentum( const ::Oyster::Math::Float3 &worldG ); + void SetLinearImpulseAcceleration( const ::Oyster::Math::Float3 &worldA ); + void SetLinearVelocity( const ::Oyster::Math::Float3 &worldV ); - void SetImpulseForceAt_Local( const ::Oyster::Math::Float3 &f, const ::Oyster::Math::Float3 &pos ); - void SetImpulseForceAt_World( const ::Oyster::Math::Float3 &f, const ::Oyster::Math::Float3 &pos ); - void SetLinearMomentumAt_Local( const ::Oyster::Math::Float3 &g, const ::Oyster::Math::Float3 &pos ); - void SetLinearMomentumAt_World( const ::Oyster::Math::Float3 &g, const ::Oyster::Math::Float3 &pos ); - void SetImpulseAccelerationAt_Local( const ::Oyster::Math::Float3 &a, const ::Oyster::Math::Float3 &pos ); - void SetImpulseAccelerationAt_World( const ::Oyster::Math::Float3 &a, const ::Oyster::Math::Float3 &pos ); - void SetLinearVelocityAt_Local( const ::Oyster::Math::Float3 &v, const ::Oyster::Math::Float3 &pos ); - void SetLinearVelocityAt_World( const ::Oyster::Math::Float3 &v, const ::Oyster::Math::Float3 &pos ); + void SetImpulseForceAt( const ::Oyster::Math::Float3 &worldF, const ::Oyster::Math::Float3 &worldPos ); + void SetLinearMomentumAt( const ::Oyster::Math::Float3 &worldG, const ::Oyster::Math::Float3 &worldPos ); + void SetImpulseAccelerationAt( const ::Oyster::Math::Float3 &worldA, const ::Oyster::Math::Float3 &worldPos ); + void SetLinearVelocityAt( const ::Oyster::Math::Float3 &worldV, const ::Oyster::Math::Float3 &worldPos ); private: - ::Oyster::Math::Float mass; /// m (kg) - ::Oyster::Math::Float4x4 momentOfInertiaTensor; /// I (Nm*s) Tensor matrix ( only need to be 3x3 matrix, but is 4x4 for future hardware acceleration ) + ::Oyster::Math::Float mass; /** m (kg) */ + ::Oyster::Math::Float4x4 momentOfInertiaTensor; /** I (Nm*s) Tensor matrix ( only need to be 3x3 matrix, but is 4x4 for future hardware acceleration ) (localValue) */ }; // INLINE IMPLEMENTATIONS ///////////////////////////////////////