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

This commit is contained in:
lindaandersson 2014-02-12 08:56:39 +01:00
parent 4a6cd390eb 7541994419
commit 4c9d62b163
5 changed files with 89 additions and 4 deletions
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27
Code/GamePhysics/Implementation/SimpleRigidBody.cpp
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@ -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
{

3
Code/GamePhysics/Implementation/SimpleRigidBody.h
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@ -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;

11
Code/GamePhysics/PhysicsAPI.h
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@ -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;
::Oyster::Math::Float4x4 GetOrientation() const;
::Oyster::Math::Float4x4 GetView() const;
::Oyster::Math::Float4x4 GetView( const ::Oyster::Math::Float3 &offset ) const;
virtual ::Oyster::Math::Float4x4 GetRotation() const = 0;
virtual ::Oyster::Math::Float4 GetRotationAsAngularAxis() = 0;
virtual ::Oyster::Math::Float4x4 GetOrientation() const = 0;
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.

46
Code/OysterMath/OysterMath.cpp
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@ -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 );

6
Code/OysterMath/OysterMath.h
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@ -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() );