From 5051a9e767beb0f00245b1f4e198e27451a4423a Mon Sep 17 00:00:00 2001 From: Dander7BD Date: Wed, 18 Dec 2013 14:16:13 +0100 Subject: [PATCH] Major StateStruct and API update --- Bin/DLL/GamePhysics_x86D.pdb | Bin 1870848 -> 1838080 bytes .../Implementation/PhysicsAPI_Impl.cpp | 170 +++++------ .../Implementation/PhysicsAPI_Impl.h | 18 +- .../Implementation/SimpleRigidBody.cpp | 138 +++++---- .../Implementation/SimpleRigidBody.h | 26 +- .../Implementation/SphericalRigidBody.cpp | 145 ++++----- .../Implementation/SphericalRigidBody.h | 26 +- Code/GamePhysics/PhysicsAPI.h | 282 +++++++++--------- Code/GamePhysics/PhysicsFormula-Impl.h | 3 +- Code/GamePhysics/PhysicsFormula.h | 1 + Code/GamePhysics/PhysicsStructs-Impl.h | 193 +++++++++--- Code/GamePhysics/PhysicsStructs.h | 80 +++-- Code/OysterMath/LinearMath.h | 33 +- Code/OysterMath/OysterMath.cpp | 14 +- Code/OysterMath/OysterMath.h | 20 +- Code/OysterPhysics3D/OysterPhysics3D.h | 60 +++- Code/OysterPhysics3D/RigidBody.cpp | 4 + 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zZ0n8368DPs2z?L(4Wb>As|AzkK}JwItRi3Qeyty?>KD_K;9(y|S8YqO2SxxY zXlpw;tvMWRor5+RSdMVql+NaA;n=#uXH6%u3o3oqXB@j$`>cPU zJgtPtG2yj%af@*%91>2a2PgDQV~oFyMzYF7|v-9~FayCTk# zuZz5NPaOBH+>0kH<+!3g`2P4dF;LRnVpX>#->z}P)`|c4f4+zF^LUu-?_3N0FAuNz zgFk;lQPZ#ybj)Q~zi^D;T<}b25R?TCfkr~Zp|OymEUYd`SQgt$@HUXPeoInUeQvjE zu!r;)kpXS=JZU0p>8G)d*Nfz&W69T3*lh8#}?bEp?h$j zDaf8nAH51k$Guh-L|KnFV-O*3^xYJJ9xcBI?m$cX<_eq{SNxfllprqI#Zs4kWfyi% z&qtbYHa&_ocJw=*Pxorc3~Jd1B>T|cRJZ`Jp>o#DG0 z?^?{7d3&jE5q~#TeQ?}worldScene.GetTemporaryReferenceOf( objRef ); - if( tempRef != this->worldScene.invalid_ref ) - { - //this->worldScene.GetCustomBody( tempRef )->Apply //!< @todo TODO: need function - this->worldScene.SetAsAltered( tempRef ); - } -} - -void API_Impl::SetMomentOfInertiaTensor_KeepVelocity( const ICustomBody* objRef, const Float4x4 &localI ) -{ // deprecated - unsigned int tempRef = this->worldScene.GetTemporaryReferenceOf( objRef ); - if( tempRef != this->worldScene.invalid_ref ) - { - this->worldScene.GetCustomBody( tempRef )->SetMomentOfInertiaTensor_KeepVelocity( localI ); - } -} - -void API_Impl::SetMomentOfInertiaTensor_KeepMomentum( const ICustomBody* objRef, const Float4x4 &localI ) -{ // deprecated - unsigned int tempRef = this->worldScene.GetTemporaryReferenceOf( objRef ); - if( tempRef != this->worldScene.invalid_ref ) - { - this->worldScene.GetCustomBody( tempRef )->SetMomentOfInertiaTensor_KeepMomentum( localI ); - } -} - -void API_Impl::SetMass_KeepVelocity( const ICustomBody* objRef, Float m ) -{ // deprecated - unsigned int tempRef = this->worldScene.GetTemporaryReferenceOf( objRef ); - if( tempRef != this->worldScene.invalid_ref ) - { - this->worldScene.GetCustomBody( tempRef )->SetMass_KeepVelocity( m ); - } -} - -void API_Impl::SetMass_KeepMomentum( const ICustomBody* objRef, Float m ) -{ // deprecated - unsigned int tempRef = this->worldScene.GetTemporaryReferenceOf( objRef ); - if( tempRef != this->worldScene.invalid_ref ) - { - this->worldScene.GetCustomBody( tempRef )->SetMass_KeepMomentum( m ); - } -} - -void API_Impl::SetCenter( const ICustomBody* objRef, const Float3 &worldPos ) -{ - unsigned int tempRef = this->worldScene.GetTemporaryReferenceOf( objRef ); - if( tempRef != this->worldScene.invalid_ref ) - { - //this->worldScene.GetCustomBody( tempRef )->Set //!< @todo TODO: need function - this->worldScene.EvaluatePosition( tempRef ); - } -} - -void API_Impl::SetRotation( const ICustomBody* objRef, const Float4x4 &rotation ) -{ - unsigned int tempRef = this->worldScene.GetTemporaryReferenceOf( objRef ); - if( tempRef != this->worldScene.invalid_ref ) - { - this->worldScene.GetCustomBody( tempRef )->SetRotation( rotation ); - this->worldScene.EvaluatePosition( tempRef ); - } -} - -void API_Impl::SetOrientation( const ICustomBody* objRef, const Float4x4 &orientation ) -{ - unsigned int tempRef = this->worldScene.GetTemporaryReferenceOf( objRef ); - if( tempRef != this->worldScene.invalid_ref ) - { - this->worldScene.GetCustomBody( tempRef )->SetOrientation( orientation ); - this->worldScene.EvaluatePosition( tempRef ); - } -} - -void API_Impl::SetSize( const ICustomBody* objRef, const Float3 &size ) -{ - unsigned int tempRef = this->worldScene.GetTemporaryReferenceOf( objRef ); - if( tempRef != this->worldScene.invalid_ref ) - { - this->worldScene.GetCustomBody( tempRef )->SetSize( size ); - this->worldScene.EvaluatePosition( tempRef ); - } -} +//void API_Impl::ApplyForceAt( const ICustomBody* objRef, const Float3 &worldPos, const Float3 &worldF ) +//{ +// unsigned int tempRef = this->worldScene.GetTemporaryReferenceOf( objRef ); +// if( tempRef != this->worldScene.invalid_ref ) +// { +// //this->worldScene.GetCustomBody( tempRef )->Apply //!< @todo TODO: need function +// this->worldScene.SetAsAltered( tempRef ); +// } +//} +// +//void API_Impl::SetMomentOfInertiaTensor_KeepVelocity( const ICustomBody* objRef, const Float4x4 &localI ) +//{ // deprecated +// unsigned int tempRef = this->worldScene.GetTemporaryReferenceOf( objRef ); +// if( tempRef != this->worldScene.invalid_ref ) +// { +// this->worldScene.GetCustomBody( tempRef )->SetMomentOfInertiaTensor_KeepVelocity( localI ); +// } +//} +// +//void API_Impl::SetMomentOfInertiaTensor_KeepMomentum( const ICustomBody* objRef, const Float4x4 &localI ) +//{ // deprecated +// unsigned int tempRef = this->worldScene.GetTemporaryReferenceOf( objRef ); +// if( tempRef != this->worldScene.invalid_ref ) +// { +// this->worldScene.GetCustomBody( tempRef )->SetMomentOfInertiaTensor_KeepMomentum( localI ); +// } +//} +// +//void API_Impl::SetMass_KeepVelocity( const ICustomBody* objRef, Float m ) +//{ // deprecated +// unsigned int tempRef = this->worldScene.GetTemporaryReferenceOf( objRef ); +// if( tempRef != this->worldScene.invalid_ref ) +// { +// this->worldScene.GetCustomBody( tempRef )->SetMass_KeepVelocity( m ); +// } +//} +// +//void API_Impl::SetMass_KeepMomentum( const ICustomBody* objRef, Float m ) +//{ // deprecated +// unsigned int tempRef = this->worldScene.GetTemporaryReferenceOf( objRef ); +// if( tempRef != this->worldScene.invalid_ref ) +// { +// this->worldScene.GetCustomBody( tempRef )->SetMass_KeepMomentum( m ); +// } +//} +// +//void API_Impl::SetCenter( const ICustomBody* objRef, const Float3 &worldPos ) +//{ +// unsigned int tempRef = this->worldScene.GetTemporaryReferenceOf( objRef ); +// if( tempRef != this->worldScene.invalid_ref ) +// { +// //this->worldScene.GetCustomBody( tempRef )->Set //!< @todo TODO: need function +// this->worldScene.EvaluatePosition( tempRef ); +// } +//} +// +//void API_Impl::SetRotation( const ICustomBody* objRef, const Float4x4 &rotation ) +//{ +// unsigned int tempRef = this->worldScene.GetTemporaryReferenceOf( objRef ); +// if( tempRef != this->worldScene.invalid_ref ) +// { +// this->worldScene.GetCustomBody( tempRef )->SetRotation( rotation ); +// this->worldScene.EvaluatePosition( tempRef ); +// } +//} +// +//void API_Impl::SetOrientation( const ICustomBody* objRef, const Float4x4 &orientation ) +//{ +// unsigned int tempRef = this->worldScene.GetTemporaryReferenceOf( objRef ); +// if( tempRef != this->worldScene.invalid_ref ) +// { +// this->worldScene.GetCustomBody( tempRef )->SetOrientation( orientation ); +// this->worldScene.EvaluatePosition( tempRef ); +// } +//} +// +//void API_Impl::SetSize( const ICustomBody* objRef, const Float3 &size ) +//{ +// unsigned int tempRef = this->worldScene.GetTemporaryReferenceOf( objRef ); +// if( tempRef != this->worldScene.invalid_ref ) +// { +// this->worldScene.GetCustomBody( tempRef )->SetSize( size ); +// this->worldScene.EvaluatePosition( tempRef ); +// } +//} UniquePointer API_Impl::CreateRigidBody( const API::SimpleBodyDescription &desc ) const { diff --git a/Code/GamePhysics/Implementation/PhysicsAPI_Impl.h b/Code/GamePhysics/Implementation/PhysicsAPI_Impl.h index aea4c013..d10d067a 100644 --- a/Code/GamePhysics/Implementation/PhysicsAPI_Impl.h +++ b/Code/GamePhysics/Implementation/PhysicsAPI_Impl.h @@ -30,16 +30,16 @@ namespace Oyster ::Utility::DynamicMemory::UniquePointer ExtractObject( const ICustomBody* objRef ); void DestroyObject( const ICustomBody* objRef ); - void ApplyForceAt( const ICustomBody* objRef, const ::Oyster::Math::Float3 &worldPos, const ::Oyster::Math::Float3 &worldF ); + //void ApplyForceAt( const ICustomBody* objRef, const ::Oyster::Math::Float3 &worldPos, const ::Oyster::Math::Float3 &worldF ); - void SetMomentOfInertiaTensor_KeepVelocity( const ICustomBody* objRef, const ::Oyster::Math::Float4x4 &localI ); - void SetMomentOfInertiaTensor_KeepMomentum( const ICustomBody* objRef, const ::Oyster::Math::Float4x4 &localI ); - void SetMass_KeepVelocity( const ICustomBody* objRef, ::Oyster::Math::Float m ); - void SetMass_KeepMomentum( const ICustomBody* objRef, ::Oyster::Math::Float m ); - void SetCenter( const ICustomBody* objRef, const ::Oyster::Math::Float3 &worldPos ); - void SetRotation( const ICustomBody* objRef, const ::Oyster::Math::Float4x4 &rotation ); - void SetOrientation( const ICustomBody* objRef, const ::Oyster::Math::Float4x4 &orientation ); - void SetSize( const ICustomBody* objRef, const ::Oyster::Math::Float3 &size ); + //void SetMomentOfInertiaTensor_KeepVelocity( const ICustomBody* objRef, const ::Oyster::Math::Float4x4 &localI ); + //void SetMomentOfInertiaTensor_KeepMomentum( const ICustomBody* objRef, const ::Oyster::Math::Float4x4 &localI ); + //void SetMass_KeepVelocity( const ICustomBody* objRef, ::Oyster::Math::Float m ); + //void SetMass_KeepMomentum( const ICustomBody* objRef, ::Oyster::Math::Float m ); + //void SetCenter( const ICustomBody* objRef, const ::Oyster::Math::Float3 &worldPos ); + //void SetRotation( const ICustomBody* objRef, const ::Oyster::Math::Float4x4 &rotation ); + //void SetOrientation( const ICustomBody* objRef, const ::Oyster::Math::Float4x4 &orientation ); + //void SetSize( const ICustomBody* objRef, const ::Oyster::Math::Float3 &size ); ::Utility::DynamicMemory::UniquePointer CreateRigidBody( const SimpleBodyDescription &desc ) const; ::Utility::DynamicMemory::UniquePointer CreateRigidBody( const SphericalBodyDescription &desc ) const; diff --git a/Code/GamePhysics/Implementation/SimpleRigidBody.cpp b/Code/GamePhysics/Implementation/SimpleRigidBody.cpp index 49309a99..0399d5de 100644 --- a/Code/GamePhysics/Implementation/SimpleRigidBody.cpp +++ b/Code/GamePhysics/Implementation/SimpleRigidBody.cpp @@ -18,7 +18,7 @@ SimpleRigidBody::SimpleRigidBody() SimpleRigidBody::SimpleRigidBody( const API::SimpleBodyDescription &desc ) { - this->rigid = RigidBody( Box( desc.rotation, desc.centerPosition, desc.size ), + this->rigid = RigidBody( Box( desc.rotation, desc.centerPosition.xyz, desc.size.xyz ), desc.mass, desc.inertiaTensor ); this->gravityNormal = Float3::null; @@ -44,12 +44,18 @@ UniquePointer SimpleRigidBody::Clone() const SimpleRigidBody::State SimpleRigidBody::GetState() const { - return State( this->rigid.box.boundingOffset.xyz, this->rigid.box.center.xyz, AngularAxis(this->rigid.box.rotation).xyz, this->rigid.linearMomentum, this->rigid.angularMomentum ); + return State( this->rigid.GetMass(), this->rigid.restitutionCoeff, this->rigid.frictionCoeff, + this->rigid.GetMomentOfInertia(), this->rigid.box.boundingOffset, + this->rigid.box.center, AngularAxis(this->rigid.box.rotation), + Float4(this->rigid.linearMomentum, 0.0f), Float4(this->rigid.angularMomentum, 0.0f) ); } SimpleRigidBody::State & SimpleRigidBody::GetState( SimpleRigidBody::State &targetMem ) const { - return targetMem = State( this->rigid.box.boundingOffset.xyz, this->rigid.box.center.xyz, AngularAxis(this->rigid.box.rotation).xyz, this->rigid.linearMomentum, this->rigid.angularMomentum ); + return targetMem = State( this->rigid.GetMass(), this->rigid.restitutionCoeff, this->rigid.frictionCoeff, + this->rigid.GetMomentOfInertia(), this->rigid.box.boundingOffset, + this->rigid.box.center, AngularAxis(this->rigid.box.rotation), + Float4(this->rigid.linearMomentum, 0.0f), Float4(this->rigid.angularMomentum, 0.0f) ); } void SimpleRigidBody::SetState( const SimpleRigidBody::State &state ) @@ -100,25 +106,25 @@ Float3 & SimpleRigidBody::GetGravityNormal( Float3 &targetMem ) const return targetMem = this->gravityNormal; } -Float3 & SimpleRigidBody::GetCenter( Float3 &targetMem ) const -{ - return targetMem = this->rigid.box.center; -} - -Float4x4 & SimpleRigidBody::GetRotation( Float4x4 &targetMem ) const -{ - return targetMem = this->rigid.box.rotation; -} - -Float4x4 & SimpleRigidBody::GetOrientation( Float4x4 &targetMem ) const -{ - return targetMem = this->rigid.GetOrientation(); -} - -Float4x4 & SimpleRigidBody::GetView( Float4x4 &targetMem ) const -{ - return targetMem = this->rigid.GetView(); -} +//Float3 & SimpleRigidBody::GetCenter( Float3 &targetMem ) const +//{ +// return targetMem = this->rigid.box.center; +//} +// +//Float4x4 & SimpleRigidBody::GetRotation( Float4x4 &targetMem ) const +//{ +// return targetMem = this->rigid.box.rotation; +//} +// +//Float4x4 & SimpleRigidBody::GetOrientation( Float4x4 &targetMem ) const +//{ +// return targetMem = this->rigid.GetOrientation(); +//} +// +//Float4x4 & SimpleRigidBody::GetView( Float4x4 &targetMem ) const +//{ +// return targetMem = this->rigid.GetView(); +//} Float3 SimpleRigidBody::GetRigidLinearVelocity() const { @@ -158,47 +164,47 @@ void SimpleRigidBody::SetGravityNormal( const Float3 &normalizedVector ) this->gravityNormal = normalizedVector; } -void SimpleRigidBody::SetMomentOfInertiaTensor_KeepVelocity( const Float4x4 &localI ) -{ - this->rigid.SetMomentOfInertia_KeepVelocity( localI ); -} - -void SimpleRigidBody::SetMomentOfInertiaTensor_KeepMomentum( const Float4x4 &localI ) -{ - this->rigid.SetMomentOfInertia_KeepMomentum( localI ); -} - -void SimpleRigidBody::SetMass_KeepVelocity( Float m ) -{ - this->rigid.SetMass_KeepVelocity( m ); -} - -void SimpleRigidBody::SetMass_KeepMomentum( Float m ) -{ - this->rigid.SetMass_KeepMomentum( m ); -} - -void SimpleRigidBody::SetCenter( const Float3 &worldPos ) -{ - this->rigid.SetCenter( worldPos ); -} - -void SimpleRigidBody::SetRotation( const Float4x4 &rotation ) -{ - this->rigid.SetRotation( rotation ); -} - -void SimpleRigidBody::SetOrientation( const Float4x4 &orientation ) -{ - this->rigid.SetOrientation( orientation ); -} - -void SimpleRigidBody::SetSize( const Float3 &size ) -{ - this->rigid.SetSize( size ); -} - -void SimpleRigidBody::SetMomentum( const Float3 &worldG ) -{ - this->rigid.SetLinearMomentum( worldG ); -} \ No newline at end of file +//void SimpleRigidBody::SetMomentOfInertiaTensor_KeepVelocity( const Float4x4 &localI ) +//{ +// this->rigid.SetMomentOfInertia_KeepVelocity( localI ); +//} +// +//void SimpleRigidBody::SetMomentOfInertiaTensor_KeepMomentum( const Float4x4 &localI ) +//{ +// this->rigid.SetMomentOfInertia_KeepMomentum( localI ); +//} +// +//void SimpleRigidBody::SetMass_KeepVelocity( Float m ) +//{ +// this->rigid.SetMass_KeepVelocity( m ); +//} +// +//void SimpleRigidBody::SetMass_KeepMomentum( Float m ) +//{ +// this->rigid.SetMass_KeepMomentum( m ); +//} +// +//void SimpleRigidBody::SetCenter( const Float3 &worldPos ) +//{ +// this->rigid.SetCenter( worldPos ); +//} +// +//void SimpleRigidBody::SetRotation( const Float4x4 &rotation ) +//{ +// this->rigid.SetRotation( rotation ); +//} +// +//void SimpleRigidBody::SetOrientation( const Float4x4 &orientation ) +//{ +// this->rigid.SetOrientation( orientation ); +//} +// +//void SimpleRigidBody::SetSize( const Float3 &size ) +//{ +// this->rigid.SetSize( size ); +//} +// +//void SimpleRigidBody::SetMomentum( const Float3 &worldG ) +//{ +// this->rigid.SetLinearMomentum( worldG ); +//} diff --git a/Code/GamePhysics/Implementation/SimpleRigidBody.h b/Code/GamePhysics/Implementation/SimpleRigidBody.h index 40448292..c314d09d 100644 --- a/Code/GamePhysics/Implementation/SimpleRigidBody.h +++ b/Code/GamePhysics/Implementation/SimpleRigidBody.h @@ -29,25 +29,25 @@ namespace Oyster { namespace Physics ::Oyster::Collision3D::Sphere & GetBoundingSphere( ::Oyster::Collision3D::Sphere &targetMem = ::Oyster::Collision3D::Sphere() ) const; ::Oyster::Math::Float4 & GetNormalAt( const ::Oyster::Math::Float4 &worldPos, ::Oyster::Math::Float4 &targetMem = ::Oyster::Math::Float4() ) const; ::Oyster::Math::Float3 & GetGravityNormal( ::Oyster::Math::Float3 &targetMem = ::Oyster::Math::Float3() ) const; - ::Oyster::Math::Float3 & GetCenter( ::Oyster::Math::Float3 &targetMem = ::Oyster::Math::Float3() ) const; - ::Oyster::Math::Float4x4 & GetRotation( ::Oyster::Math::Float4x4 &targetMem = ::Oyster::Math::Float4x4() ) const; - ::Oyster::Math::Float4x4 & GetOrientation( ::Oyster::Math::Float4x4 &targetMem = ::Oyster::Math::Float4x4() ) const; - ::Oyster::Math::Float4x4 & GetView( ::Oyster::Math::Float4x4 &targetMem = ::Oyster::Math::Float4x4() ) const; + //::Oyster::Math::Float3 & GetCenter( ::Oyster::Math::Float3 &targetMem = ::Oyster::Math::Float3() ) const; + //::Oyster::Math::Float4x4 & GetRotation( ::Oyster::Math::Float4x4 &targetMem = ::Oyster::Math::Float4x4() ) const; + //::Oyster::Math::Float4x4 & GetOrientation( ::Oyster::Math::Float4x4 &targetMem = ::Oyster::Math::Float4x4() ) const; + //::Oyster::Math::Float4x4 & GetView( ::Oyster::Math::Float4x4 &targetMem = ::Oyster::Math::Float4x4() ) const; UpdateState Update( ::Oyster::Math::Float timeStepLength ); void SetSubscription( EventAction_Collision functionPointer ); void SetGravity( bool ignore); void SetGravityNormal( const ::Oyster::Math::Float3 &normalizedVector ); - void SetMomentOfInertiaTensor_KeepVelocity( const ::Oyster::Math::Float4x4 &localI ); - void SetMomentOfInertiaTensor_KeepMomentum( const ::Oyster::Math::Float4x4 &localI ); - void SetMass_KeepVelocity( ::Oyster::Math::Float m ); - void SetMass_KeepMomentum( ::Oyster::Math::Float m ); - void SetCenter( const ::Oyster::Math::Float3 &worldPos ); - void SetRotation( const ::Oyster::Math::Float4x4 &rotation ); - void SetOrientation( const ::Oyster::Math::Float4x4 &orientation ); - void SetSize( const ::Oyster::Math::Float3 &size ); - void SetMomentum( const ::Oyster::Math::Float3 &worldG ); + //void SetMomentOfInertiaTensor_KeepVelocity( const ::Oyster::Math::Float4x4 &localI ); + //void SetMomentOfInertiaTensor_KeepMomentum( const ::Oyster::Math::Float4x4 &localI ); + //void SetMass_KeepVelocity( ::Oyster::Math::Float m ); + //void SetMass_KeepMomentum( ::Oyster::Math::Float m ); + //void SetCenter( const ::Oyster::Math::Float3 &worldPos ); + //void SetRotation( const ::Oyster::Math::Float4x4 &rotation ); + //void SetOrientation( const ::Oyster::Math::Float4x4 &orientation ); + //void SetSize( const ::Oyster::Math::Float3 &size ); + //void SetMomentum( const ::Oyster::Math::Float3 &worldG ); private: ::Oyster::Physics3D::RigidBody rigid; diff --git a/Code/GamePhysics/Implementation/SphericalRigidBody.cpp b/Code/GamePhysics/Implementation/SphericalRigidBody.cpp index 6b63a699..d7154f2f 100644 --- a/Code/GamePhysics/Implementation/SphericalRigidBody.cpp +++ b/Code/GamePhysics/Implementation/SphericalRigidBody.cpp @@ -19,7 +19,7 @@ SphericalRigidBody::SphericalRigidBody() SphericalRigidBody::SphericalRigidBody( const API::SphericalBodyDescription &desc ) { - this->rigid = RigidBody( Box( desc.rotation, desc.centerPosition, Float3(2.0f * desc.radius) ), + this->rigid = RigidBody( Box( desc.rotation, desc.centerPosition.xyz, Float3(2.0f * desc.radius) ), desc.mass, Formula::MomentOfInertia::CreateSphereMatrix( desc.mass, desc.radius ) ); this->gravityNormal = Float3::null; @@ -46,12 +46,18 @@ UniquePointer SphericalRigidBody::Clone() const SphericalRigidBody::State SphericalRigidBody::GetState() const { - return State( this->rigid.box.boundingOffset.xyz, this->rigid.box.center.xyz, AngularAxis(this->rigid.box.rotation).xyz, this->rigid.linearMomentum, this->rigid.angularMomentum ); + return State( this->rigid.GetMass(), this->rigid.restitutionCoeff, this->rigid.frictionCoeff, + this->rigid.GetMomentOfInertia(), this->rigid.box.boundingOffset, + this->rigid.box.center, AngularAxis(this->rigid.box.rotation), + Float4(this->rigid.linearMomentum, 0.0f), Float4(this->rigid.angularMomentum, 0.0f) ); } SphericalRigidBody::State & SphericalRigidBody::GetState( SphericalRigidBody::State &targetMem ) const { - return targetMem = State( this->rigid.box.boundingOffset.xyz, this->rigid.box.center.xyz, AngularAxis(this->rigid.box.rotation).xyz, this->rigid.linearMomentum, this->rigid.angularMomentum ); + return targetMem = State( this->rigid.GetMass(), this->rigid.restitutionCoeff, this->rigid.frictionCoeff, + this->rigid.GetMomentOfInertia(), this->rigid.box.boundingOffset, + this->rigid.box.center, AngularAxis(this->rigid.box.rotation), + Float4(this->rigid.linearMomentum, 0.0f), Float4(this->rigid.angularMomentum, 0.0f) ); } void SphericalRigidBody::SetState( const SphericalRigidBody::State &state ) @@ -93,7 +99,6 @@ Sphere & SphericalRigidBody::GetBoundingSphere( Sphere &targetMem ) const Float4 & SphericalRigidBody::GetNormalAt( const Float4 &worldPos, Float4 &targetMem ) const { - //! @todo TODO: better implementation needed return targetMem = (worldPos - this->rigid.box.center).GetNormalized(); } @@ -102,25 +107,25 @@ Float3 & SphericalRigidBody::GetGravityNormal( Float3 &targetMem ) const return targetMem = this->gravityNormal; } -Float3 & SphericalRigidBody::GetCenter( Float3 &targetMem ) const -{ - return targetMem = this->rigid.box.center; -} - -Float4x4 & SphericalRigidBody::GetRotation( Float4x4 &targetMem ) const -{ - return targetMem = this->rigid.box.rotation; -} - -Float4x4 & SphericalRigidBody::GetOrientation( Float4x4 &targetMem ) const -{ - return targetMem = this->rigid.GetOrientation(); -} - -Float4x4 & SphericalRigidBody::GetView( Float4x4 &targetMem ) const -{ - return targetMem = this->rigid.GetView(); -} +//Float3 & SphericalRigidBody::GetCenter( Float3 &targetMem ) const +//{ +// return targetMem = this->rigid.box.center; +//} +// +//Float4x4 & SphericalRigidBody::GetRotation( Float4x4 &targetMem ) const +//{ +// return targetMem = this->rigid.box.rotation; +//} +// +//Float4x4 & SphericalRigidBody::GetOrientation( Float4x4 &targetMem ) const +//{ +// return targetMem = this->rigid.GetOrientation(); +//} +// +//Float4x4 & SphericalRigidBody::GetView( Float4x4 &targetMem ) const +//{ +// return targetMem = this->rigid.GetView(); +//} Float3 SphericalRigidBody::GetRigidLinearVelocity() const { @@ -160,50 +165,50 @@ void SphericalRigidBody::SetGravityNormal( const Float3 &normalizedVector ) this->gravityNormal = normalizedVector; } -void SphericalRigidBody::SetMomentOfInertiaTensor_KeepVelocity( const Float4x4 &localI ) -{ - this->rigid.SetMomentOfInertia_KeepVelocity( localI ); -} - -void SphericalRigidBody::SetMomentOfInertiaTensor_KeepMomentum( const Float4x4 &localI ) -{ - this->rigid.SetMomentOfInertia_KeepMomentum( localI ); -} - -void SphericalRigidBody::SetMass_KeepVelocity( Float m ) -{ - this->rigid.SetMass_KeepVelocity( m ); -} - -void SphericalRigidBody::SetMass_KeepMomentum( Float m ) -{ - this->rigid.SetMass_KeepMomentum( m ); -} - -void SphericalRigidBody::SetCenter( const Float3 &worldPos ) -{ - this->rigid.SetCenter( worldPos ); - this->body.center = worldPos; -} - -void SphericalRigidBody::SetRotation( const Float4x4 &rotation ) -{ - this->rigid.SetRotation( rotation ); -} - -void SphericalRigidBody::SetOrientation( const Float4x4 &orientation ) -{ - this->rigid.SetOrientation( orientation ); - this->body.center = orientation.v[3].xyz; -} - -void SphericalRigidBody::SetSize( const Float3 &size ) -{ - this->rigid.SetSize( size ); - this->body.radius = 0.5f * Min( Min( size.x, size.y ), size.z ); // inline Min( FloatN )? -} - -void SphericalRigidBody::SetMomentum( const Float3 &worldG ) -{ - this->rigid.SetLinearMomentum( worldG ); -} \ No newline at end of file +//void SphericalRigidBody::SetMomentOfInertiaTensor_KeepVelocity( const Float4x4 &localI ) +//{ +// this->rigid.SetMomentOfInertia_KeepVelocity( localI ); +//} +// +//void SphericalRigidBody::SetMomentOfInertiaTensor_KeepMomentum( const Float4x4 &localI ) +//{ +// this->rigid.SetMomentOfInertia_KeepMomentum( localI ); +//} +// +//void SphericalRigidBody::SetMass_KeepVelocity( Float m ) +//{ +// this->rigid.SetMass_KeepVelocity( m ); +//} +// +//void SphericalRigidBody::SetMass_KeepMomentum( Float m ) +//{ +// this->rigid.SetMass_KeepMomentum( m ); +//} +// +//void SphericalRigidBody::SetCenter( const Float3 &worldPos ) +//{ +// this->rigid.SetCenter( worldPos ); +// this->body.center = worldPos; +//} +// +//void SphericalRigidBody::SetRotation( const Float4x4 &rotation ) +//{ +// this->rigid.SetRotation( rotation ); +//} +// +//void SphericalRigidBody::SetOrientation( const Float4x4 &orientation ) +//{ +// this->rigid.SetOrientation( orientation ); +// this->body.center = orientation.v[3].xyz; +//} +// +//void SphericalRigidBody::SetSize( const Float3 &size ) +//{ +// this->rigid.SetSize( size ); +// this->body.radius = 0.5f * Min( Min( size.x, size.y ), size.z ); // inline Min( FloatN )? +//} +// +//void SphericalRigidBody::SetMomentum( const Float3 &worldG ) +//{ +// this->rigid.SetLinearMomentum( worldG ); +//} diff --git a/Code/GamePhysics/Implementation/SphericalRigidBody.h b/Code/GamePhysics/Implementation/SphericalRigidBody.h index cf02a10c..3136f4e7 100644 --- a/Code/GamePhysics/Implementation/SphericalRigidBody.h +++ b/Code/GamePhysics/Implementation/SphericalRigidBody.h @@ -30,25 +30,25 @@ namespace Oyster { namespace Physics ::Oyster::Collision3D::Sphere & GetBoundingSphere( ::Oyster::Collision3D::Sphere &targetMem = ::Oyster::Collision3D::Sphere() ) const; ::Oyster::Math::Float4 & GetNormalAt( const ::Oyster::Math::Float4 &worldPos, ::Oyster::Math::Float4 &targetMem = ::Oyster::Math::Float4() ) const; ::Oyster::Math::Float3 & GetGravityNormal( ::Oyster::Math::Float3 &targetMem = ::Oyster::Math::Float3() ) const; - ::Oyster::Math::Float3 & GetCenter( ::Oyster::Math::Float3 &targetMem = ::Oyster::Math::Float3() ) const; - ::Oyster::Math::Float4x4 & GetRotation( ::Oyster::Math::Float4x4 &targetMem = ::Oyster::Math::Float4x4() ) const; - ::Oyster::Math::Float4x4 & GetOrientation( ::Oyster::Math::Float4x4 &targetMem = ::Oyster::Math::Float4x4() ) const; - ::Oyster::Math::Float4x4 & GetView( ::Oyster::Math::Float4x4 &targetMem = ::Oyster::Math::Float4x4() ) const; + //::Oyster::Math::Float3 & GetCenter( ::Oyster::Math::Float3 &targetMem = ::Oyster::Math::Float3() ) const; + //::Oyster::Math::Float4x4 & GetRotation( ::Oyster::Math::Float4x4 &targetMem = ::Oyster::Math::Float4x4() ) const; + //::Oyster::Math::Float4x4 & GetOrientation( ::Oyster::Math::Float4x4 &targetMem = ::Oyster::Math::Float4x4() ) const; + //::Oyster::Math::Float4x4 & GetView( ::Oyster::Math::Float4x4 &targetMem = ::Oyster::Math::Float4x4() ) const; UpdateState Update( ::Oyster::Math::Float timeStepLength ); void SetSubscription( EventAction_Collision functionPointer ); void SetGravity( bool ignore); void SetGravityNormal( const ::Oyster::Math::Float3 &normalizedVector ); - void SetMomentOfInertiaTensor_KeepVelocity( const ::Oyster::Math::Float4x4 &localI ); - void SetMomentOfInertiaTensor_KeepMomentum( const ::Oyster::Math::Float4x4 &localI ); - void SetMass_KeepVelocity( ::Oyster::Math::Float m ); - void SetMass_KeepMomentum( ::Oyster::Math::Float m ); - void SetCenter( const ::Oyster::Math::Float3 &worldPos ); - void SetRotation( const ::Oyster::Math::Float4x4 &rotation ); - void SetOrientation( const ::Oyster::Math::Float4x4 &orientation ); - void SetSize( const ::Oyster::Math::Float3 &size ); - void SetMomentum( const ::Oyster::Math::Float3 &worldG ); + //void SetMomentOfInertiaTensor_KeepVelocity( const ::Oyster::Math::Float4x4 &localI ); + //void SetMomentOfInertiaTensor_KeepMomentum( const ::Oyster::Math::Float4x4 &localI ); + //void SetMass_KeepVelocity( ::Oyster::Math::Float m ); + //void SetMass_KeepMomentum( ::Oyster::Math::Float m ); + //void SetCenter( const ::Oyster::Math::Float3 &worldPos ); + //void SetRotation( const ::Oyster::Math::Float4x4 &rotation ); + //void SetOrientation( const ::Oyster::Math::Float4x4 &orientation ); + //void SetSize( const ::Oyster::Math::Float3 &size ); + //void SetMomentum( const ::Oyster::Math::Float3 &worldG ); private: ::Oyster::Physics3D::RigidBody rigid; diff --git a/Code/GamePhysics/PhysicsAPI.h b/Code/GamePhysics/PhysicsAPI.h index 46c8c70d..945247b0 100644 --- a/Code/GamePhysics/PhysicsAPI.h +++ b/Code/GamePhysics/PhysicsAPI.h @@ -124,73 +124,73 @@ namespace Oyster ********************************************************/ virtual void DestroyObject( const ICustomBody* objRef ) = 0; - /******************************************************** - * Apply force on an object. - * @param objRef: A pointer to the ICustomBody representing a physical object. - * @param worldPos: Relative to the world origo. (Not relative to object) [m] - * @param worldF: Vector with the direction and magnitude of the force. [N] - ********************************************************/ - virtual void ApplyForceAt( const ICustomBody* objRef, const ::Oyster::Math::Float3 &worldPos, const ::Oyster::Math::Float3 &worldF ) = 0; + ///******************************************************** + // * Apply force on an object. + // * @param objRef: A pointer to the ICustomBody representing a physical object. + // * @param worldPos: Relative to the world origo. (Not relative to object) [m] + // * @param worldF: Vector with the direction and magnitude of the force. [N] + // ********************************************************/ + //virtual void ApplyForceAt( const ICustomBody* objRef, const ::Oyster::Math::Float3 &worldPos, const ::Oyster::Math::Float3 &worldF ) = 0; - /******************************************************** - * Sets the MomentOfInertia tensor matrix of an object without changing it's angular velocity. - * Noticeable effect: The angular momentum will change. Changing the amount of kinetic energy. - * @param objRef: A pointer to the ICustomBody representing a physical object. - * @param localI: The tensor matrix relative to the axises of the object. @see MomentOfInertia namespace. - ********************************************************/ - virtual void SetMomentOfInertiaTensor_KeepVelocity( const ICustomBody* objRef, const ::Oyster::Math::Float4x4 &localI ) = 0; - - /******************************************************** - * Sets the MomentOfInertia tensor matrix of an object without changing it's angular momentum. - * Noticeable effect: The angular velocity will change. Can be used to create slow effects. - * @param objRef: A pointer to the ICustomBody representing a physical object. - * @param localI: The tensor matrix relative to the axises of the object. @see MomentOfInertia namespace. - ********************************************************/ - virtual void SetMomentOfInertiaTensor_KeepMomentum( const ICustomBody* objRef, const ::Oyster::Math::Float4x4 &localI ) = 0; - - /******************************************************** - * Sets the mass of an object without changing it's linear velocity. - * Noticeable effect: The linear momentum will change. Changing the amount of kinetic energy. - * @param objRef: A pointer to the ICustomBody representing a physical object. - * @param m: [kg] - ********************************************************/ - virtual void SetMass_KeepVelocity( const ICustomBody* objRef, ::Oyster::Math::Float m ) = 0; - - /******************************************************** - * Sets the mass of an object without changing it's linear velocity. - * Noticeable effect: The linear velocity will change. Can be used to create slow effects. - * @param objRef: A pointer to the ICustomBody representing a physical object. - * @param m: [kg] - ********************************************************/ - virtual void SetMass_KeepMomentum( const ICustomBody* objRef, ::Oyster::Math::Float m ) = 0; - - /******************************************************** - * Instantly moves an object. - * @param objRef: A pointer to the ICustomBody representing a physical object. - * @param worldPos: Relative to the world origo. (Not relative to object) [m] - ********************************************************/ - virtual void SetCenter( const ICustomBody* objRef, const ::Oyster::Math::Float3 &worldPos ) = 0; - - /******************************************************** - * Instantly redirects object. - * @param objRef: A pointer to the ICustomBody representing a physical object. - * @param rotation: New rotation. - ********************************************************/ - virtual void SetRotation( const ICustomBody* objRef, const ::Oyster::Math::Float4x4 &rotation ) = 0; - - /******************************************************** - * Instantly moves and redirects object. - * @param objRef: A pointer to the ICustomBody representing a physical object. - * @param orientation: New orientation. - ********************************************************/ - virtual void SetOrientation( const ICustomBody* objRef, const ::Oyster::Math::Float4x4 &orientation ) = 0; - - /******************************************************** - * Resizes the boundingBox. - * @param objRef: A pointer to the ICustomBody representing a physical object. - * @param size: New size of this [m] - ********************************************************/ - virtual void SetSize( const ICustomBody* objRef, const ::Oyster::Math::Float3 &size ) = 0; + ///******************************************************** + // * Sets the MomentOfInertia tensor matrix of an object without changing it's angular velocity. + // * Noticeable effect: The angular momentum will change. Changing the amount of kinetic energy. + // * @param objRef: A pointer to the ICustomBody representing a physical object. + // * @param localI: The tensor matrix relative to the axises of the object. @see MomentOfInertia namespace. + // ********************************************************/ + //virtual void SetMomentOfInertiaTensor_KeepVelocity( const ICustomBody* objRef, const ::Oyster::Math::Float4x4 &localI ) = 0; + // + ///******************************************************** + // * Sets the MomentOfInertia tensor matrix of an object without changing it's angular momentum. + // * Noticeable effect: The angular velocity will change. Can be used to create slow effects. + // * @param objRef: A pointer to the ICustomBody representing a physical object. + // * @param localI: The tensor matrix relative to the axises of the object. @see MomentOfInertia namespace. + // ********************************************************/ + //virtual void SetMomentOfInertiaTensor_KeepMomentum( const ICustomBody* objRef, const ::Oyster::Math::Float4x4 &localI ) = 0; + // + ///******************************************************** + // * Sets the mass of an object without changing it's linear velocity. + // * Noticeable effect: The linear momentum will change. Changing the amount of kinetic energy. + // * @param objRef: A pointer to the ICustomBody representing a physical object. + // * @param m: [kg] + // ********************************************************/ + //virtual void SetMass_KeepVelocity( const ICustomBody* objRef, ::Oyster::Math::Float m ) = 0; + // + ///******************************************************** + // * Sets the mass of an object without changing it's linear velocity. + // * Noticeable effect: The linear velocity will change. Can be used to create slow effects. + // * @param objRef: A pointer to the ICustomBody representing a physical object. + // * @param m: [kg] + // ********************************************************/ + //virtual void SetMass_KeepMomentum( const ICustomBody* objRef, ::Oyster::Math::Float m ) = 0; + // + ///******************************************************** + // * Instantly moves an object. + // * @param objRef: A pointer to the ICustomBody representing a physical object. + // * @param worldPos: Relative to the world origo. (Not relative to object) [m] + // ********************************************************/ + //virtual void SetCenter( const ICustomBody* objRef, const ::Oyster::Math::Float3 &worldPos ) = 0; + // + ///******************************************************** + // * Instantly redirects object. + // * @param objRef: A pointer to the ICustomBody representing a physical object. + // * @param rotation: New rotation. + // ********************************************************/ + //virtual void SetRotation( const ICustomBody* objRef, const ::Oyster::Math::Float4x4 &rotation ) = 0; + // + ///******************************************************** + // * Instantly moves and redirects object. + // * @param objRef: A pointer to the ICustomBody representing a physical object. + // * @param orientation: New orientation. + // ********************************************************/ + //virtual void SetOrientation( const ICustomBody* objRef, const ::Oyster::Math::Float4x4 &orientation ) = 0; + // + ///******************************************************** + // * Resizes the boundingBox. + // * @param objRef: A pointer to the ICustomBody representing a physical object. + // * @param size: New size of this [m] + // ********************************************************/ + //virtual void SetSize( const ICustomBody* objRef, const ::Oyster::Math::Float3 &size ) = 0; /******************************************************** * Creates a new dynamically allocated object that can be used as a component for more complex ICustomBodies. @@ -307,30 +307,30 @@ namespace Oyster ********************************************************/ virtual ::Oyster::Math::Float3 & GetGravityNormal( ::Oyster::Math::Float3 &targetMem = ::Oyster::Math::Float3() ) const = 0; - /******************************************************** - * The world position of this center of gravity. - * @param targetMem: Provided memory that written into and then returned. - * @return a position in worldSpace. - ********************************************************/ - virtual ::Oyster::Math::Float3 & GetCenter( ::Oyster::Math::Float3 &targetMem = ::Oyster::Math::Float3() ) const = 0; - - /******************************************************** - * @param targetMem: Provided memory that written into and then returned. - * @return a copy of this's rotation matrix. - ********************************************************/ - virtual ::Oyster::Math::Float4x4 & GetRotation( ::Oyster::Math::Float4x4 &targetMem = ::Oyster::Math::Float4x4() ) const = 0; - - /******************************************************** - * @param targetMem: Provided memory that written into and then returned. - * @return a copy of this's orientation matrix. - ********************************************************/ - virtual ::Oyster::Math::Float4x4 & GetOrientation( ::Oyster::Math::Float4x4 &targetMem = ::Oyster::Math::Float4x4() ) const = 0; - - /******************************************************** - * @param targetMem: Provided memory that written into and then returned. - * @return a copy of this's view matrix. - ********************************************************/ - virtual ::Oyster::Math::Float4x4 & GetView( ::Oyster::Math::Float4x4 &targetMem = ::Oyster::Math::Float4x4() ) const = 0; + ///******************************************************** + // * The world position of this center of gravity. + // * @param targetMem: Provided memory that written into and then returned. + // * @return a position in worldSpace. + // ********************************************************/ + //virtual ::Oyster::Math::Float3 & GetCenter( ::Oyster::Math::Float3 &targetMem = ::Oyster::Math::Float3() ) const = 0; + // + ///******************************************************** + // * @param targetMem: Provided memory that written into and then returned. + // * @return a copy of this's rotation matrix. + // ********************************************************/ + //virtual ::Oyster::Math::Float4x4 & GetRotation( ::Oyster::Math::Float4x4 &targetMem = ::Oyster::Math::Float4x4() ) const = 0; + // + ///******************************************************** + // * @param targetMem: Provided memory that written into and then returned. + // * @return a copy of this's orientation matrix. + // ********************************************************/ + //virtual ::Oyster::Math::Float4x4 & GetOrientation( ::Oyster::Math::Float4x4 &targetMem = ::Oyster::Math::Float4x4() ) const = 0; + // + ///******************************************************** + // * @param targetMem: Provided memory that written into and then returned. + // * @return a copy of this's view matrix. + // ********************************************************/ + //virtual ::Oyster::Math::Float4x4 & GetView( ::Oyster::Math::Float4x4 &targetMem = ::Oyster::Math::Float4x4() ) const = 0; /******************************************************** * To not be called if is in Engine @@ -356,59 +356,59 @@ namespace Oyster ********************************************************/ virtual void SetGravityNormal( const ::Oyster::Math::Float3 &normalizedVector ) = 0; - /******************************************************** - * To not be called if is in Engine - * Use API::SetMomentOfInertiaTensor_KeepVelocity(...) instead - ********************************************************/ - virtual void SetMomentOfInertiaTensor_KeepVelocity( const ::Oyster::Math::Float4x4 &localI ) = 0; - - /******************************************************** - * To not be called if is in Engine - * Use API::SetMomentOfInertiaTensor_KeepMomentum(...) - ********************************************************/ - virtual void SetMomentOfInertiaTensor_KeepMomentum( const ::Oyster::Math::Float4x4 &localI ) = 0; - - /******************************************************** - * To not be called if is in Engine - * Use API::SetMass_KeepVelocity(...) - ********************************************************/ - virtual void SetMass_KeepVelocity( ::Oyster::Math::Float m ) = 0; - - /******************************************************** - * To not be called if is in Engine - * Use API::SetMass_KeepMomentum(...) - ********************************************************/ - virtual void SetMass_KeepMomentum( ::Oyster::Math::Float m ) = 0; - - /******************************************************** - * To not be called if is in Engine - * Use API::SetCenter(...) - ********************************************************/ - virtual void SetCenter( const ::Oyster::Math::Float3 &worldPos ) = 0; - - /******************************************************** - * To not be called if is in Engine - * Use API::SetRotation(...) - ********************************************************/ - virtual void SetRotation( const ::Oyster::Math::Float4x4 &rotation ) = 0; - - /******************************************************** - * To not be called if is in Engine - * Use API::SetOrientation(...) - ********************************************************/ - virtual void SetOrientation( const ::Oyster::Math::Float4x4 &orientation ) = 0; + ///******************************************************** + // * To not be called if is in Engine + // * Use API::SetMomentOfInertiaTensor_KeepVelocity(...) instead + // ********************************************************/ + //virtual void SetMomentOfInertiaTensor_KeepVelocity( const ::Oyster::Math::Float4x4 &localI ) = 0; + // + ///******************************************************** + // * To not be called if is in Engine + // * Use API::SetMomentOfInertiaTensor_KeepMomentum(...) + // ********************************************************/ + //virtual void SetMomentOfInertiaTensor_KeepMomentum( const ::Oyster::Math::Float4x4 &localI ) = 0; + // + ///******************************************************** + // * To not be called if is in Engine + // * Use API::SetMass_KeepVelocity(...) + // ********************************************************/ + //virtual void SetMass_KeepVelocity( ::Oyster::Math::Float m ) = 0; + // + ///******************************************************** + // * To not be called if is in Engine + // * Use API::SetMass_KeepMomentum(...) + // ********************************************************/ + //virtual void SetMass_KeepMomentum( ::Oyster::Math::Float m ) = 0; + // + ///******************************************************** + // * To not be called if is in Engine + // * Use API::SetCenter(...) + // ********************************************************/ + //virtual void SetCenter( const ::Oyster::Math::Float3 &worldPos ) = 0; + // + ///******************************************************** + // * To not be called if is in Engine + // * Use API::SetRotation(...) + // ********************************************************/ + //virtual void SetRotation( const ::Oyster::Math::Float4x4 &rotation ) = 0; + // + ///******************************************************** + // * To not be called if is in Engine + // * Use API::SetOrientation(...) + // ********************************************************/ + //virtual void SetOrientation( const ::Oyster::Math::Float4x4 &orientation ) = 0; - /******************************************************** - * To not be called if is in Engine - * Use API::SetSize(...) - ********************************************************/ - virtual void SetSize( const ::Oyster::Math::Float3 &size ) = 0; + ///******************************************************** + // * To not be called if is in Engine + // * Use API::SetSize(...) + // ********************************************************/ + //virtual void SetSize( const ::Oyster::Math::Float3 &size ) = 0; - /******************************************************** - * To not be called if is in Engine - * Use API::?? @todo TODO: - ********************************************************/ - virtual void SetMomentum( const ::Oyster::Math::Float3 &worldG ) = 0; + ///******************************************************** + // * To not be called if is in Engine + // * Use API::?? @todo TODO: + // ********************************************************/ + //virtual void SetMomentum( const ::Oyster::Math::Float3 &worldG ) = 0; }; } } diff --git a/Code/GamePhysics/PhysicsFormula-Impl.h b/Code/GamePhysics/PhysicsFormula-Impl.h index 2c97de24..c0d4ed64 100644 --- a/Code/GamePhysics/PhysicsFormula-Impl.h +++ b/Code/GamePhysics/PhysicsFormula-Impl.h @@ -38,9 +38,10 @@ namespace Oyster { namespace Physics { namespace Formula { inline ::Oyster::Math::Float Impulse( ::Oyster::Math::Float e, ::Oyster::Math::Float mA, ::Oyster::Math::Float gA, ::Oyster::Math::Float mB, ::Oyster::Math::Float gB ) { - return (e+1) * (mB*gA - mA*gB) / (mA + mB); + return (e + 1) * (mB*gA - mA*gB) / (mA + mB); } } + } } } #endif \ No newline at end of file diff --git a/Code/GamePhysics/PhysicsFormula.h b/Code/GamePhysics/PhysicsFormula.h index 156b9e45..c15d8078 100644 --- a/Code/GamePhysics/PhysicsFormula.h +++ b/Code/GamePhysics/PhysicsFormula.h @@ -2,6 +2,7 @@ #define PHYSICS_FORMULA_H #include "OysterMath.h" +#include "OysterPhysics3D.h" namespace Oyster { namespace Physics { namespace Formula { diff --git a/Code/GamePhysics/PhysicsStructs-Impl.h b/Code/GamePhysics/PhysicsStructs-Impl.h index daf108bb..d13fdd80 100644 --- a/Code/GamePhysics/PhysicsStructs-Impl.h +++ b/Code/GamePhysics/PhysicsStructs-Impl.h @@ -10,8 +10,8 @@ namespace Oyster { namespace Physics inline SimpleBodyDescription::SimpleBodyDescription() { this->rotation = ::Oyster::Math::Float4x4::identity; - this->centerPosition = ::Oyster::Math::Float3::null; - this->size = ::Oyster::Math::Float3( 1.0f ); + this->centerPosition = ::Oyster::Math::Float4::null; + this->size = ::Oyster::Math::Float4( 1.0f ); this->mass = 12.0f; this->inertiaTensor = ::Oyster::Math::Float4x4::identity; this->subscription = NULL; @@ -21,36 +21,66 @@ namespace Oyster { namespace Physics inline SphericalBodyDescription::SphericalBodyDescription() { this->rotation = ::Oyster::Math::Float4x4::identity; - this->centerPosition = ::Oyster::Math::Float3::null; + this->centerPosition = ::Oyster::Math::Float4::null; this->radius = 0.5f; this->mass = 10.0f; this->subscription = NULL; this->ignoreGravity = false; } - inline CustomBodyState::CustomBodyState( const ::Oyster::Math::Float3 &reach, const ::Oyster::Math::Float3 ¢erPos, const ::Oyster::Math::Float3 &rotation, const ::Oyster::Math::Float3 &linearMomentum, const ::Oyster::Math::Float3 &angularMomentum ) + inline CustomBodyState::CustomBodyState( ::Oyster::Math::Float mass, ::Oyster::Math::Float restitutionCoeff, ::Oyster::Math::Float frictionCoeff, const ::Oyster::Math::Float4x4 &inertiaTensor, const ::Oyster::Math::Float4 &reach, const ::Oyster::Math::Float4 ¢erPos, const ::Oyster::Math::Float4 &rotation, const ::Oyster::Math::Float4 &linearMomentum, const ::Oyster::Math::Float4 &angularMomentum ) { - this->reach = ::Oyster::Math::Float4( reach, 0.0f ); - this->centerPos = ::Oyster::Math::Float4( centerPos, 1.0f ); - this->angularAxis = ::Oyster::Math::Float4( rotation, 0.0f ); - this->linearMomentum = ::Oyster::Math::Float4( linearMomentum, 0.0f ); - this->angularMomentum = ::Oyster::Math::Float4( angularMomentum, 0.0f ); + this->mass = mass; + this->restitutionCoeff = restitutionCoeff; + this->frictionCoeff = frictionCoeff; + this->inertiaTensor = inertiaTensor; + this->reach = ::Oyster::Math::Float4( reach.xyz, 0.0f ); + this->centerPos = ::Oyster::Math::Float4( centerPos.xyz, 1.0f ); + this->angularAxis = ::Oyster::Math::Float4( rotation.xyz, 0.0f ); + this->linearMomentum = ::Oyster::Math::Float4( linearMomentum.xyz, 0.0f ); + this->angularMomentum = ::Oyster::Math::Float4( angularMomentum.xyz, 0.0f ); + this->linearImpulse = this->angularImpulse = ::Oyster::Math::Float4::null; this->isSpatiallyAltered = this->isDisturbed = false; } inline CustomBodyState & CustomBodyState::operator = ( const CustomBodyState &state ) { + this->mass = state.mass; + this->restitutionCoeff = state.restitutionCoeff; + this->frictionCoeff = state.frictionCoeff; + this->inertiaTensor = state.inertiaTensor; this->reach = state.reach; this->centerPos = state.centerPos; this->angularAxis = state.angularAxis; this->linearMomentum = state.linearMomentum; this->angularMomentum = state.angularMomentum; - + this->linearImpulse = state.linearImpulse; + this->angularImpulse = state.angularImpulse; this->isSpatiallyAltered = state.isSpatiallyAltered; this->isDisturbed = state.isDisturbed; return *this; } + inline const ::Oyster::Math::Float CustomBodyState::GetMass() const + { + return this->mass; + } + + inline const ::Oyster::Math::Float CustomBodyState::GetRestitutionCoeff() const + { + return this->restitutionCoeff; + } + + inline const ::Oyster::Math::Float CustomBodyState::GetFrictionCoeff() const + { + return this->frictionCoeff; + } + + inline const ::Oyster::Math::Float4x4 & CustomBodyState::GetMomentOfInertia() const + { + return this->inertiaTensor; + } + inline const ::Oyster::Math::Float4 & CustomBodyState::GetReach() const { return this->reach; @@ -76,16 +106,14 @@ namespace Oyster { namespace Physics return ::Oyster::Math3D::RotationMatrix( this->GetAngularAxis().xyz ); } - inline const ::Oyster::Math::Float CustomBodyState::GetMass() const + inline ::Oyster::Math::Float4x4 CustomBodyState::GetOrientation() const { - //! @todo TODO: stub to be implemented (CustomBodyState::GetMass) - return 1.0f; + return ::Oyster::Math3D::OrientationMatrix( this->angularAxis.xyz, this->centerPos.xyz ); } - inline const ::Oyster::Math::Float CustomBodyState::GetRestitutionCoeff() const + inline ::Oyster::Math::Float4x4 CustomBodyState::GetView() const { - //! @todo TODO: stub to be implemented (CustomBodyState::GetRestitutionCoeff) - return 1.0f; + return ::Oyster::Math3D::ViewMatrix( this->angularAxis.xyz, this->centerPos.xyz ); } inline const ::Oyster::Math::Float4 & CustomBodyState::GetLinearMomentum() const @@ -93,15 +121,10 @@ namespace Oyster { namespace Physics return this->linearMomentum; } - inline ::Oyster::Math::Float4 CustomBodyState::GetLinearMomentum( const ::Oyster::Math::Float3 &at ) const - { - return this->GetLinearMomentum( ::Oyster::Math::Float4(at, 1.0f) ); - } - inline ::Oyster::Math::Float4 CustomBodyState::GetLinearMomentum( const ::Oyster::Math::Float4 &at ) const { - //! @todo TODO: stub to be implemented (CustomBodyState::GetLinearMomentum) - return ::Oyster::Math::Float4::null; + //return this->linearMomentum + ::Oyster::Physics3D::Formula::TangentialLinearMomentum( this->angularMomentum, at - this->centerPos ); // C3083 error? + return this->linearMomentum + ::Oyster::Math::Float4( this->angularMomentum.xyz.Cross((at - this->centerPos).xyz), 0.0f ); } inline const ::Oyster::Math::Float4 & CustomBodyState::GetAngularMomentum() const @@ -109,25 +132,79 @@ namespace Oyster { namespace Physics return this->angularMomentum; } - inline void CustomBodyState::SetSize( const ::Oyster::Math::Float3 &size ) + inline const ::Oyster::Math::Float4 & CustomBodyState::GetLinearImpulse() const + { + return this->linearImpulse; + } + + inline const ::Oyster::Math::Float4 & CustomBodyState::GetAngularImpulse() const + { + return this->angularImpulse; + } + + inline void CustomBodyState::SetMass_KeepMomentum( ::Oyster::Math::Float m ) + { + this->mass = m; + } + + inline void CustomBodyState::SetMass_KeepVelocity( ::Oyster::Math::Float m ) + { + if( m != 0.0f ) + { // sanity block! + // Formula::LinearMomentum( m, Formula::LinearVelocity(this->mass, this->linearMomentum) ) + // is the same as (this->linearMomentum / this->mass) * m = (m / this->mass) * this->linearMomentum + this->linearMomentum *= (m / this->mass); + this->mass = m; + } + } + + inline void CustomBodyState::SetRestitutionCoeff( ::Oyster::Math::Float e ) + { + this->restitutionCoeff = e; + } + + inline void CustomBodyState::SetFrictionCoeff( ::Oyster::Math::Float u ) + { + this->frictionCoeff = u; + } + + inline void CustomBodyState::SetMomentOfInertia_KeepMomentum( const ::Oyster::Math::Float4x4 &tensor ) + { + this->inertiaTensor = tensor; + } + + inline void CustomBodyState::SetMomentOfInertia_KeepVelocity( const ::Oyster::Math::Float4x4 &tensor ) + { + if( tensor.GetDeterminant() != 0.0f ) + { // sanity block! + ::Oyster::Math::Float4x4 rotation = ::Oyster::Math3D::RotationMatrix(this->angularAxis.xyz); + //::Oyster::Math::Float4 w = ::Oyster::Physics3D::Formula::AngularVelocity( (rotation * this->inertiaTensor).GetInverse(), this->angularMomentum ); // C3083 error? + ::Oyster::Math::Float4 w = (rotation * this->inertiaTensor).GetInverse() * this->angularMomentum; + this->inertiaTensor = tensor; + //this->angularMomentum = ::Oyster::Physics3D::Formula::AngularMomentum( rotation * tensor, w ); // C3083 error? + this->angularMomentum = rotation * tensor * w; + } + } + + inline void CustomBodyState::SetSize( const ::Oyster::Math::Float4 &size ) { this->SetReach( 0.5f * size ); } - inline void CustomBodyState::SetReach( const ::Oyster::Math::Float3 &halfSize ) + inline void CustomBodyState::SetReach( const ::Oyster::Math::Float4 &halfSize ) { this->reach.xyz = halfSize; this->reach = ::Utility::Value::Max( this->reach, ::Oyster::Math::Float4::null ); this->isSpatiallyAltered = this->isDisturbed = true; } - inline void CustomBodyState::SetCenterPosition( const ::Oyster::Math::Float3 ¢erPos ) + inline void CustomBodyState::SetCenterPosition( const ::Oyster::Math::Float4 ¢erPos ) { this->centerPos.xyz = centerPos; this->isSpatiallyAltered = this->isDisturbed = true; } - inline void CustomBodyState::SetRotation( const ::Oyster::Math::Float3 &angularAxis ) + inline void CustomBodyState::SetRotation( const ::Oyster::Math::Float4 &angularAxis ) { this->angularAxis.xyz = angularAxis; this->isSpatiallyAltered = this->isDisturbed = true; @@ -135,43 +212,69 @@ namespace Oyster { namespace Physics inline void CustomBodyState::SetRotation( const ::Oyster::Math::Float4x4 &rotation ) { - this->SetRotation( ::Oyster::Math3D::AngularAxis(rotation).xyz ); + this->SetRotation( ::Oyster::Math3D::AngularAxis(rotation) ); } - inline void CustomBodyState::SetMass( ::Oyster::Math::Float m ) + inline void CustomBodyState::SetOrientation( const ::Oyster::Math::Float4x4 &orientation ) { - //! @todo TODO: stub to be implemented (CustomBodyState::SetRestitutionCoeff) + this->SetRotation( ::Oyster::Math3D::ExtractAngularAxis(orientation) ); + this->SetCenterPosition( orientation.v[3] ); } - inline void CustomBodyState::SetRestitutionCoeff( ::Oyster::Math::Float e ) + inline void CustomBodyState::SetLinearMomentum( const ::Oyster::Math::Float4 &g ) { - //! @todo TODO: stub to be implemented (CustomBodyState::SetRestitutionCoeff) - } - - inline void CustomBodyState::SetLinearMomentum( const ::Oyster::Math::Float3 &g ) - { - this->linearMomentum = ::Oyster::Math::Float4( g, 0.0f ); + this->linearMomentum.xyz = g; this->isDisturbed = true; } - inline void CustomBodyState::SetAngularMomentum( const ::Oyster::Math::Float3 &h ) + inline void CustomBodyState::SetAngularMomentum( const ::Oyster::Math::Float4 &h ) { - this->angularMomentum = ::Oyster::Math::Float4( h, 0.0f ); + this->angularMomentum.xyz = h; this->isDisturbed = true; } - inline void CustomBodyState::ApplyImpulse( const ::Oyster::Math::Float4 &j ) + inline void CustomBodyState::SetLinearImpulse( const ::Oyster::Math::Float4 &j ) { - this->linearMomentum += j; + this->linearImpulse.xyz = j; + this->isDisturbed = true; + } + + inline void CustomBodyState::SetAngularImpulse( const ::Oyster::Math::Float4 &j ) + { + this->angularImpulse.xyz = j; + this->isDisturbed = true; + } + + inline void CustomBodyState::AddRotation( const ::Oyster::Math::Float4 &angularAxis ) + { + this->angularAxis += angularAxis; + this->isSpatiallyAltered = this->isDisturbed = true; + } + + inline void CustomBodyState::AddTranslation( const ::Oyster::Math::Float4 &deltaPos ) + { + this->centerPos += deltaPos; + this->isSpatiallyAltered = this->isDisturbed = true; + } + + inline void CustomBodyState::ApplyLinearImpulse( const ::Oyster::Math::Float4 &j ) + { + this->linearImpulse += j; + this->isDisturbed = true; + } + + inline void CustomBodyState::ApplyAngularImpulse( const ::Oyster::Math::Float4 &j ) + { + this->angularImpulse += j; this->isDisturbed = true; } inline void CustomBodyState::ApplyImpulse( const ::Oyster::Math::Float4 &j, const ::Oyster::Math::Float4 &at, const ::Oyster::Math::Float4 &normal ) { - //! @todo TODO: stub to be implemented (CustomBodyState::ApplyImpulse) - - this->linearMomentum += j.Dot( normal ) * normal; // perpendicular impulse component - //this->angularImpulse += Formula:: ... + //::Oyster::Math::Float4 tangentialImpulse = ::Oyster::Physics3D::Formula::AngularMomentum( j, at - this->centerPos ); // C3083 error? + ::Oyster::Math::Float4 tangentialImpulse = ::Oyster::Math::Float4( (at - this->centerPos).xyz.Cross(j.xyz), 0.0f ); + this->linearImpulse += j - tangentialImpulse; + this->angularImpulse += tangentialImpulse; this->isDisturbed = true; } diff --git a/Code/GamePhysics/PhysicsStructs.h b/Code/GamePhysics/PhysicsStructs.h index e3c20fea..ce2b40cb 100644 --- a/Code/GamePhysics/PhysicsStructs.h +++ b/Code/GamePhysics/PhysicsStructs.h @@ -11,8 +11,8 @@ namespace Oyster { namespace Physics struct SimpleBodyDescription { ::Oyster::Math::Float4x4 rotation; - ::Oyster::Math::Float3 centerPosition; - ::Oyster::Math::Float3 size; + ::Oyster::Math::Float4 centerPosition; + ::Oyster::Math::Float4 size; ::Oyster::Math::Float mass; ::Oyster::Math::Float4x4 inertiaTensor; ::Oyster::Physics::ICustomBody::EventAction_Collision subscription; @@ -24,7 +24,7 @@ namespace Oyster { namespace Physics struct SphericalBodyDescription { ::Oyster::Math::Float4x4 rotation; - ::Oyster::Math::Float3 centerPosition; + ::Oyster::Math::Float4 centerPosition; ::Oyster::Math::Float radius; ::Oyster::Math::Float mass; ::Oyster::Physics::ICustomBody::EventAction_Collision subscription; @@ -36,46 +36,68 @@ namespace Oyster { namespace Physics struct CustomBodyState { public: - CustomBodyState( const ::Oyster::Math::Float3 &reach = ::Oyster::Math::Float3::null, - const ::Oyster::Math::Float3 ¢erPos = ::Oyster::Math::Float3::null, - const ::Oyster::Math::Float3 &rotation = ::Oyster::Math::Float3::null, - const ::Oyster::Math::Float3 &linearMomentum = ::Oyster::Math::Float3::null, - const ::Oyster::Math::Float3 &angularMomentum = ::Oyster::Math::Float3::null ); + CustomBodyState( ::Oyster::Math::Float mass = 1.0f, + ::Oyster::Math::Float restitutionCoeff = 1.0f, + ::Oyster::Math::Float frictionCoeff = 1.0f, + const ::Oyster::Math::Float4x4 &inertiaTensor = ::Oyster::Math::Float4x4::identity, + const ::Oyster::Math::Float4 &reach = ::Oyster::Math::Float4::null, + const ::Oyster::Math::Float4 ¢erPos = ::Oyster::Math::Float4::standard_unit_w, + const ::Oyster::Math::Float4 &rotation = ::Oyster::Math::Float4::null, + const ::Oyster::Math::Float4 &linearMomentum = ::Oyster::Math::Float4::null, + const ::Oyster::Math::Float4 &angularMomentum = ::Oyster::Math::Float4::null ); CustomBodyState & operator = ( const CustomBodyState &state ); - const ::Oyster::Math::Float4 & GetReach() const; - ::Oyster::Math::Float4 GetSize() const; - const ::Oyster::Math::Float4 & GetCenterPosition() const; - const ::Oyster::Math::Float4 & GetAngularAxis() const; - ::Oyster::Math::Float4x4 GetRotation() const; - const ::Oyster::Math::Float GetMass() const; - const ::Oyster::Math::Float GetRestitutionCoeff() const; - const ::Oyster::Math::Float4 & GetLinearMomentum() const; - ::Oyster::Math::Float4 GetLinearMomentum( const ::Oyster::Math::Float3 &at ) const; - ::Oyster::Math::Float4 GetLinearMomentum( const ::Oyster::Math::Float4 &at ) const; - const ::Oyster::Math::Float4 & GetAngularMomentum() const; + const ::Oyster::Math::Float GetMass() const; + const ::Oyster::Math::Float GetRestitutionCoeff() const; + const ::Oyster::Math::Float GetFrictionCoeff() const; + const ::Oyster::Math::Float4x4 & GetMomentOfInertia() const; + const ::Oyster::Math::Float4 & GetReach() const; + ::Oyster::Math::Float4 GetSize() const; + const ::Oyster::Math::Float4 & GetCenterPosition() const; + const ::Oyster::Math::Float4 & GetAngularAxis() const; + ::Oyster::Math::Float4x4 GetRotation() const; + ::Oyster::Math::Float4x4 GetOrientation() const; + ::Oyster::Math::Float4x4 GetView() const; + const ::Oyster::Math::Float4 & GetLinearMomentum() const; + ::Oyster::Math::Float4 GetLinearMomentum( const ::Oyster::Math::Float4 &at ) const; + const ::Oyster::Math::Float4 & GetAngularMomentum() const; + const ::Oyster::Math::Float4 & GetLinearImpulse() const; + const ::Oyster::Math::Float4 & GetAngularImpulse() const; - - void SetSize( const ::Oyster::Math::Float3 &size ); - void SetReach( const ::Oyster::Math::Float3 &halfSize ); - void SetCenterPosition( const ::Oyster::Math::Float3 ¢erPos ); - void SetRotation( const ::Oyster::Math::Float3 &angularAxis ); - void SetRotation( const ::Oyster::Math::Float4x4 &rotation ); - void SetMass( ::Oyster::Math::Float m ); + void SetMass_KeepMomentum( ::Oyster::Math::Float m ); + void SetMass_KeepVelocity( ::Oyster::Math::Float m ); void SetRestitutionCoeff( ::Oyster::Math::Float e ); - void SetLinearMomentum( const ::Oyster::Math::Float3 &g ); - void SetAngularMomentum( const ::Oyster::Math::Float3 &h ); + void SetFrictionCoeff( ::Oyster::Math::Float u ); + void SetMomentOfInertia_KeepMomentum( const ::Oyster::Math::Float4x4 &tensor ); + void SetMomentOfInertia_KeepVelocity( const ::Oyster::Math::Float4x4 &tensor ); + void SetSize( const ::Oyster::Math::Float4 &size ); + void SetReach( const ::Oyster::Math::Float4 &halfSize ); + void SetCenterPosition( const ::Oyster::Math::Float4 ¢erPos ); + void SetRotation( const ::Oyster::Math::Float4 &angularAxis ); + void SetRotation( const ::Oyster::Math::Float4x4 &rotation ); + void SetOrientation( const ::Oyster::Math::Float4x4 &orientation ); + void SetLinearMomentum( const ::Oyster::Math::Float4 &g ); + void SetAngularMomentum( const ::Oyster::Math::Float4 &h ); + void SetLinearImpulse( const ::Oyster::Math::Float4 &j ); + void SetAngularImpulse( const ::Oyster::Math::Float4 &j ); - void ApplyImpulse( const ::Oyster::Math::Float4 &j ); + void AddRotation( const ::Oyster::Math::Float4 &angularAxis ); + void AddTranslation( const ::Oyster::Math::Float4 &deltaPos ); + + void ApplyLinearImpulse( const ::Oyster::Math::Float4 &j ); + void ApplyAngularImpulse( const ::Oyster::Math::Float4 &j ); void ApplyImpulse( const ::Oyster::Math::Float4 &j, const ::Oyster::Math::Float4 &at, const ::Oyster::Math::Float4 &normal ); bool IsSpatiallyAltered() const; bool IsDisturbed() const; private: + ::Oyster::Math::Float mass, restitutionCoeff, frictionCoeff; + ::Oyster::Math::Float4x4 inertiaTensor; ::Oyster::Math::Float4 reach, centerPos, angularAxis; ::Oyster::Math::Float4 linearMomentum, angularMomentum; + ::Oyster::Math::Float4 linearImpulse, angularImpulse; bool isSpatiallyAltered, isDisturbed; }; diff --git a/Code/OysterMath/LinearMath.h b/Code/OysterMath/LinearMath.h index 8bca1c19..f686ada4 100644 --- a/Code/OysterMath/LinearMath.h +++ b/Code/OysterMath/LinearMath.h @@ -266,6 +266,12 @@ namespace LinearAlgebra3D return ::std::asin( ::LinearAlgebra::Vector4(rotationMatrix.v[1].z, rotationMatrix.v[2].x, rotationMatrix.v[0].y, 1) ); } + template + inline ::LinearAlgebra::Vector4 ExtractAngularAxis( const ::LinearAlgebra::Matrix4x4 &orientationMatrix ) + { + return ::std::asin( ::LinearAlgebra::Vector4(orientationMatrix.v[1].z, orientationMatrix.v[2].x, orientationMatrix.v[0].y, 1) ); + } + template inline ::LinearAlgebra::Matrix4x4 & TranslationMatrix( const ::LinearAlgebra::Vector3 &position, ::LinearAlgebra::Matrix4x4 &targetMem = ::LinearAlgebra::Matrix4x4() ) { @@ -400,18 +406,35 @@ namespace LinearAlgebra3D } template - ::LinearAlgebra::Matrix4x4 & OrientationMatrix( const ::LinearAlgebra::Vector3 &sumDeltaAngularAxis, const ::LinearAlgebra::Vector3 &sumTranslation, ::LinearAlgebra::Matrix4x4 &targetMem = ::LinearAlgebra::Matrix4x4() ) - { /** @todo TODO: not tested */ - ScalarType radian = sumDeltaAngularAxis.Dot( sumDeltaAngularAxis ); + ::LinearAlgebra::Matrix4x4 & OrientationMatrix( const ::LinearAlgebra::Vector3 &angularAxis, const ::LinearAlgebra::Vector3 &translation, ::LinearAlgebra::Matrix4x4 &targetMem = ::LinearAlgebra::Matrix4x4() ) + { + ScalarType radian = angularAxis.Dot( angularAxis ); if( radian > 0 ) { radian = ::std::sqrt( radian ); - return OrientationMatrix( sumDeltaAngularAxis / radian, radian, sumTranslation, targetMem ); + return OrientationMatrix( angularAxis / radian, radian, translation, targetMem ); } else { targetMem = ::LinearAlgebra::Matrix4x4::identity; - targetMem.v[3].xyz = sumTranslation; + targetMem.v[3].xyz = translation; + return targetMem; + } + } + + template + ::LinearAlgebra::Matrix4x4 & ViewMatrix( const ::LinearAlgebra::Vector3 &angularAxis, const ::LinearAlgebra::Vector3 &translation, ::LinearAlgebra::Matrix4x4 &targetMem = ::LinearAlgebra::Matrix4x4() ) + { + ScalarType radian = angularAxis.Dot( angularAxis ); + if( radian > 0 ) + { + radian = ::std::sqrt( radian ); + return InverseOrientationMatrix( OrientationMatrix(angularAxis / radian, radian, translation, targetMem) ); + } + else + { + targetMem = ::LinearAlgebra::Matrix4x4::identity; + targetMem.v[3].xyz = -translation; return targetMem; } } diff --git a/Code/OysterMath/OysterMath.cpp b/Code/OysterMath/OysterMath.cpp index cf9fa8ae..b72ad551 100644 --- a/Code/OysterMath/OysterMath.cpp +++ b/Code/OysterMath/OysterMath.cpp @@ -91,6 +91,11 @@ namespace Oyster { namespace Math3D return ::LinearAlgebra3D::AngularAxis( rotationMatrix ); } + Float4 ExtractAngularAxis( const Float4x4 &orientationMatrix ) + { + return ::LinearAlgebra3D::ExtractAngularAxis( orientationMatrix ); + } + Float4x4 & TranslationMatrix( const Float3 &position, Float4x4 &targetMem ) { return ::LinearAlgebra3D::TranslationMatrix( position, targetMem ); @@ -147,9 +152,14 @@ namespace Oyster { namespace Math3D return ::LinearAlgebra3D::OrientationMatrix( normalizedAxis, deltaRadian, sumTranslation, targetMem ); } - Float4x4 & OrientationMatrix( const Float3 &sumDeltaAngularAxis, const Float3 &sumTranslation, Float4x4 &targetMem ) + Float4x4 & OrientationMatrix( const Float3 &angularAxis, const Float3 &translation, Float4x4 &targetMem ) { - return ::LinearAlgebra3D::OrientationMatrix( sumDeltaAngularAxis, sumTranslation, targetMem ); + return ::LinearAlgebra3D::OrientationMatrix( angularAxis, translation, targetMem ); + } + + Float4x4 & ViewMatrix( const Float3 &angularAxis, const Float3 &translation, Float4x4 &targetMem ) + { + return ::LinearAlgebra3D::ViewMatrix( angularAxis, translation, targetMem ); } Float4x4 & OrientationMatrix( const Float3 &sumDeltaAngularAxis, const Float3 &sumTranslation, const Float3 ¢erOfMass, Float4x4 &targetMem ) diff --git a/Code/OysterMath/OysterMath.h b/Code/OysterMath/OysterMath.h index 72fe7478..18a57458 100644 --- a/Code/OysterMath/OysterMath.h +++ b/Code/OysterMath/OysterMath.h @@ -153,6 +153,9 @@ namespace Oyster { namespace Math3D /// Oyster's native math library specialized //! Extracts the angularAxis from rotationMatrix Float4 AngularAxis( const Float4x4 &rotationMatrix ); + //! Extracts the angularAxis from orientationMatrix + Float4 ExtractAngularAxis( const Float4x4 &orientationMatrix ); + /// Sets and returns targetMem to a translationMatrix with position as translation. Float4x4 & TranslationMatrix( const Float3 &position, Float4x4 &targetMem = Float4x4() ); @@ -191,19 +194,26 @@ namespace Oyster { namespace Math3D /// Oyster's native math library specialized * @param sumTranslation: sum of all the translation vectors. * @param targetMem: is set to a rigibody matrix that rotate counterclockwise and then translates. * @return targetMem - * @todo TODO: not tested *******************************************************************/ Float4x4 & OrientationMatrix( const Float3 &normalizedAxis, const Float & deltaRadian, const Float3 &sumTranslation, Float4x4 &targetMem = Float4x4() ); /******************************************************************* * Sets and returns targetMem as an orientation Matrix - * @param sumDeltaAngularAxis: sum of all ( (1/I) * ( L x D ) )-vectorproducts. There I is known as "moment of inertia", L as "angular momentum vector" and D the "lever vector". - * @param sumTranslation: sum of all the translation vectors. + * @param angularAxis: sum of all ( (1/I) * ( L x D ) )-vectorproducts. There I is known as "moment of inertia", L as "angular momentum vector" and D the "lever vector". + * @param translation: sum of all the translation vectors. * @param targetMem: is set to a rigibody matrix that rotate counterclockwise and then translates. * @return targetMem - * @todo TODO: not tested *******************************************************************/ - Float4x4 & OrientationMatrix( const Float3 &sumDeltaAngularAxis, const Float3 &sumTranslation, Float4x4 &targetMem = Float4x4() ); + Float4x4 & OrientationMatrix( const Float3 &angularAxis, const Float3 &translation, Float4x4 &targetMem = Float4x4() ); + + /******************************************************************* + * Sets and returns targetMem as a view Matrix + * @param angularAxis: sum of all ( (1/I) * ( L x D ) )-vectorproducts. There I is known as "moment of inertia", L as "angular momentum vector" and D the "lever vector". + * @param translation: sum of all the translation vectors. + * @param targetMem: is set to a rigibody matrix that rotate counterclockwise and then translates. + * @return targetMem + *******************************************************************/ + Float4x4 & ViewMatrix( const Float3 &angularAxis, const Float3 &translation, Float4x4 &targetMem = Float4x4() ); /******************************************************************* * Sets and returns targetMem as an orientation Matrix diff --git a/Code/OysterPhysics3D/OysterPhysics3D.h b/Code/OysterPhysics3D/OysterPhysics3D.h index 614a4a29..33d9a93e 100644 --- a/Code/OysterPhysics3D/OysterPhysics3D.h +++ b/Code/OysterPhysics3D/OysterPhysics3D.h @@ -12,6 +12,60 @@ namespace Oyster { namespace Physics3D namespace Formula { /// Library of 3D physics related formulas + /****************************************************************** + * Returns the linear momentum of a mass in motion. + * @todo TODO: improve doc + ******************************************************************/ + inline ::Oyster::Math::Float4 LinearMomentum( const ::Oyster::Math::Float &mass, const ::Oyster::Math::Float4 &linearVelocity ) + { + return linearVelocity * mass; + } + + /****************************************************************** + * Returns the linear momentum of a mass in motion. + * @todo TODO: improve doc + ******************************************************************/ + inline ::Oyster::Math::Float4 LinearVelocity( const ::Oyster::Math::Float &mass, const ::Oyster::Math::Float4 &linearMomentum ) + { + return linearMomentum / mass; + } + + /****************************************************************** + * Returns the world angular momentum of a mass in rotation. + * @todo TODO: improve doc + ******************************************************************/ + inline ::Oyster::Math::Float4 AngularMomentum( const ::Oyster::Math::Float4 linearMomentum, const ::Oyster::Math::Float4 &worldOffset ) + { + return ::Oyster::Math::Float4( worldOffset.xyz.Cross(linearMomentum.xyz), 0.0f ); + } + + /****************************************************************** + * Returns the world angular momentum of a mass in rotation. + * @todo TODO: improve doc + ******************************************************************/ + inline ::Oyster::Math::Float4 AngularMomentum( const ::Oyster::Math::Float4x4 &worldMomentOfInertia, const ::Oyster::Math::Float4 &angularVelocity ) + { + return worldMomentOfInertia * angularVelocity; + } + + /****************************************************************** + * Returns the world angular velocity of a mass in rotation. + * @todo TODO: improve doc + ******************************************************************/ + inline ::Oyster::Math::Float4 AngularVelocity( const ::Oyster::Math::Float4x4 &worldMomentOfInertiaInversed, const ::Oyster::Math::Float4 &angularMomentum ) + { + return worldMomentOfInertiaInversed * angularMomentum; + } + + /****************************************************************** + * Returns the world tangential momentum at worldPos, of a mass in rotation. + * @todo TODO: improve doc + ******************************************************************/ + inline ::Oyster::Math::Float4 TangentialLinearMomentum( const ::Oyster::Math::Float4 &angularMomentum, const ::Oyster::Math::Float4 &worldOffset ) + { + return ::Oyster::Math::Float4( angularMomentum.xyz.Cross(worldOffset.xyz), 0.0f ); + } + /****************************************************************** * Returns the linear kinetic energy of a mass in motion. * @todo TODO: improve doc @@ -192,12 +246,6 @@ 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 eed27b52..538fb1e6 100644 --- a/Code/OysterPhysics3D/RigidBody.cpp +++ b/Code/OysterPhysics3D/RigidBody.cpp @@ -16,6 +16,8 @@ RigidBody::RigidBody( const Box &b, Float m, const Float4x4 &inertiaTensor ) this->linearMomentum = Float3::null; this->impulseTorqueSum = Float3::null; this->impulseForceSum = Float3::null; + this->restitutionCoeff = 1.0f; + this->frictionCoeff = 1.0f; if( m != 0.0f ) { @@ -43,6 +45,8 @@ RigidBody & RigidBody::operator = ( const RigidBody &body ) this->linearMomentum = body.linearMomentum; this->impulseTorqueSum = body.impulseTorqueSum; this->impulseForceSum = body.impulseForceSum; + this->restitutionCoeff = body.restitutionCoeff; + this->frictionCoeff = body.frictionCoeff; this->mass = body.mass; this->momentOfInertiaTensor = body.momentOfInertiaTensor; return *this; diff --git a/Code/OysterPhysics3D/RigidBody.h b/Code/OysterPhysics3D/RigidBody.h index 81c92ae0..1ac632d7 100644 --- a/Code/OysterPhysics3D/RigidBody.h +++ b/Code/OysterPhysics3D/RigidBody.h @@ -19,6 +19,7 @@ namespace Oyster { namespace Physics3D 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) */ + ::Oyster::Math::Float restitutionCoeff, frictionCoeff; RigidBody( const ::Oyster::Collision3D::Box &box = ::Oyster::Collision3D::Box(), ::Oyster::Math::Float mass = 12.0f,