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

Code/GamePhysics/Implementation/SimpleRigidBody.cpp

@@ -67,6 +67,11 @@ void SimpleRigidBody::SetState( const SimpleRigidBody::State &state )
 	this->state = state;
 }
 
+void SimpleRigidBody::ApplyImpulse(Float3 impulse)
+{
+	this->rigidBody->applyImpulse(btVector3(impulse.x, impulse.y, impulse.z), btVector3(0.0f, 0.0f, 0.0f));
+}
+
 void SimpleRigidBody::SetCollisionShape(btCollisionShape* shape)
 {
 	this->collisionShape = shape;
@@ -186,6 +191,28 @@ Float4x4 SimpleRigidBody::GetRotation() const
 {
 	return this->state.GetRotation();
 }
+Float4 SimpleRigidBody::GetRotationAsAngularAxis()
+{
+	Float4 axis = Float4::null;
+	Float s = sqrtf(1 - this->state.quaternion.real*this->state.quaternion.real);
+
+	axis.w = 2*acos(this->state.quaternion.real*this->state.quaternion.real);
+
+	if(1 - this->state.quaternion.real > 0.001f)
+	{
+		axis.x = this->state.quaternion.imaginary.x/s;
+		axis.y = this->state.quaternion.imaginary.y/s;
+		axis.z = this->state.quaternion.imaginary.z/s;
+	}
+	else
+	{
+		axis.x = this->state.quaternion.imaginary.x;
+		axis.y = this->state.quaternion.imaginary.y;
+		axis.z = this->state.quaternion.imaginary.z;
+	}
+
+	return axis;
+}
 
 Float4x4 SimpleRigidBody::GetOrientation() const
 {

Code/GamePhysics/Implementation/SimpleRigidBody.h

@@ -18,6 +18,8 @@ namespace Oyster
 			State& GetState( State &targetMem ) const;
 			void SetState( const State &state );
 
+			void ApplyImpulse(Math::Float3 impulse);
+
 			void SetCollisionShape(btCollisionShape* shape);
 			void SetMotionState(btDefaultMotionState* motionState);
 			void SetRigidBody(btRigidBody* rigidBody);
@@ -38,6 +40,7 @@ namespace Oyster
 			void SetUpAndForward(::Oyster::Math::Float3 up, ::Oyster::Math::Float3 forward);
 
 			Math::Float4x4 GetRotation() const;
+			Math::Float4 GetRotationAsAngularAxis();
 			Math::Float4x4 GetOrientation() const;
 			Math::Float4x4 GetView() const;
 			Math::Float4x4 GetView( const ::Oyster::Math::Float3 &offset ) const;

Code/GamePhysics/PhysicsAPI.h

@@ -134,6 +134,8 @@ namespace Oyster
 			virtual void SetSubscription(EventAction_AfterCollisionResponse function) = 0;
 			virtual void SetSubscription(EventAction_Move function) = 0;
 
+			virtual void ApplyImpulse(::Oyster::Math::Float3 impulse) = 0;
+
 			virtual void SetLinearVelocity(::Oyster::Math::Float3 velocity) = 0;
 			virtual void SetPosition(::Oyster::Math::Float3 position) = 0;
 			virtual void SetRotation(::Oyster::Math::Float4 quaternion) = 0;
@@ -146,10 +148,11 @@ namespace Oyster
 			virtual void SetUpAndRight(::Oyster::Math::Float3 up, ::Oyster::Math::Float3 right) = 0;
 			virtual void SetUpAndForward(::Oyster::Math::Float3 up, ::Oyster::Math::Float3 forward) = 0;
 
-			::Oyster::Math::Float4x4 GetRotation() const;
+			virtual ::Oyster::Math::Float4x4 GetRotation() const = 0;
-			::Oyster::Math::Float4x4 GetOrientation() const;
+			virtual ::Oyster::Math::Float4 GetRotationAsAngularAxis() = 0;
-			::Oyster::Math::Float4x4 GetView() const;
+			virtual ::Oyster::Math::Float4x4 GetOrientation() const = 0;
-			::Oyster::Math::Float4x4 GetView( const ::Oyster::Math::Float3 &offset ) const;
+			virtual ::Oyster::Math::Float4x4 GetView() const = 0;
+			virtual ::Oyster::Math::Float4x4 GetView(const ::Oyster::Math::Float3 &offset) const = 0;
 
 			/********************************************************
 			 * @return the void pointer set by SetCustomTag.

Code/OysterMath/OysterMath.cpp

@@ -96,6 +96,52 @@ namespace Oyster { namespace Math3D
 	//	return ::LinearAlgebra3D::ExtractAngularAxis( orientationMatrix );
 	//}
 
+	Float4 QuaternionToAngularAxis(Float4 quaternion)
+	{
+		Float4 axis = Float4::null;
+		Float s = sqrtf(1 - quaternion.w*quaternion.w);
+
+		axis.w = 2*acos(quaternion.w*quaternion.w);
+
+		if(1 - quaternion.w > 0.001f)
+		{
+			axis.x = quaternion.x/s;
+			axis.y = quaternion.y/s;
+			axis.z = quaternion.z/s;
+		}
+		else
+		{
+			axis.x = quaternion.x;
+			axis.y = quaternion.y;
+			axis.z = quaternion.z;
+		}
+
+		return axis;
+	}
+
+	Float4 QuaternionToAngularAxis(Quaternion quaternion)
+	{
+		Float4 axis = Float4::null;
+		Float s = sqrtf(1 - quaternion.real*quaternion.real);
+
+		axis.w = 2*acos(quaternion.real*quaternion.real);
+
+		if(1 - quaternion.real > 0.001f)
+		{
+			axis.x = quaternion.imaginary.x/s;
+			axis.y = quaternion.imaginary.y/s;
+			axis.z = quaternion.imaginary.z/s;
+		}
+		else
+		{
+			axis.x = quaternion.imaginary.x;
+			axis.y = quaternion.imaginary.y;
+			axis.z = quaternion.imaginary.z;
+		}
+
+		return axis;
+	}
+
 	Float4x4 & TranslationMatrix( const Float3 &position, Float4x4 &targetMem )
 	{
 		return ::LinearAlgebra3D::TranslationMatrix( position, targetMem );

Code/OysterMath/OysterMath.h

@@ -149,6 +149,12 @@ namespace Oyster { namespace Math3D //! Oyster's native math library specialized
 	////! Extracts the angularAxis from orientationMatrix
 	//Float4 ExtractAngularAxis( const Float4x4 &orientationMatrix );
 
+	//! Converts a quaternion as Float4 to angular axis as Float4
+	Float4 QuaternionToAngularAxis(Float4 quaternion);
+
+	//! Converts a quaternion to angular axis as Float4
+	Float4 QuaternionToAngularAxis(Quaternion quaternion);
+
 	//! Sets and returns targetMem to a translationMatrix with position as translation. 
 	Float4x4 & TranslationMatrix( const Float3 &position, Float4x4 &targetMem = Float4x4() );