NoEdge/Danbias
NoEdge
/
Danbias
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

Added gravity normal to state struct

This commit is contained in:
Robin Engman 2014-01-21 14:56:34 +01:00
parent 39e4f7881b
commit 5c85580ffd
4 changed files with 26 additions and 5 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

8
Code/GamePhysics/Implementation/SimpleRigidBody.cpp
View File

@ -101,7 +101,8 @@ SimpleRigidBody::State SimpleRigidBody::GetState() const
this->rigid.frictionCoeff_Static, this->rigid.frictionCoeff_Kinetic,
this->rigid.GetMomentOfInertia(), this->rigid.boundingReach,
this->rigid.centerPos, this->rigid.axis,
this->rigid.momentum_Linear, this->rigid.momentum_Angular );
this->rigid.momentum_Linear, this->rigid.momentum_Angular,
this->rigid.gravityNormal );
}
SimpleRigidBody::State & SimpleRigidBody::GetState( SimpleRigidBody::State &targetMem ) const
@ -110,7 +111,8 @@ SimpleRigidBody::State & SimpleRigidBody::GetState( SimpleRigidBody::State &targ
this->rigid.frictionCoeff_Static, this->rigid.frictionCoeff_Kinetic,
this->rigid.GetMomentOfInertia(), this->rigid.boundingReach,
this->rigid.centerPos, this->rigid.axis,
this->rigid.momentum_Linear, this->rigid.momentum_Angular );
this->rigid.momentum_Linear, this->rigid.momentum_Angular,
this->rigid.gravityNormal );
}
void SimpleRigidBody::SetState( const SimpleRigidBody::State &state )
@ -127,6 +129,7 @@ void SimpleRigidBody::SetState( const SimpleRigidBody::State &state )
this->rigid.frictionCoeff_Kinetic = state.GetFrictionCoeff_Kinetic();
this->rigid.SetMass_KeepMomentum( state.GetMass() );
this->rigid.SetMomentOfInertia_KeepMomentum( state.GetMomentOfInertia() );
this->rigid.gravityNormal = state.GetGravityNormal();
if( state.IsForwarded() )
{
@ -333,6 +336,7 @@ void SimpleRigidBody::SetGravity( bool ignore)
void SimpleRigidBody::SetGravityNormal( const Float3 &normalizedVector )
{
this->gravityNormal = normalizedVector;
this->rigid.gravityNormal = Float4( this->gravityNormal, 0 );
}
void SimpleRigidBody::SetCustomTag( void *ref )

14
Code/GamePhysics/PhysicsStructs-Impl.h
View File

@ -39,7 +39,7 @@ namespace Oyster
this->ignoreGravity = false;
}
inline CustomBodyState::CustomBodyState( ::Oyster::Math::Float mass, ::Oyster::Math::Float restitutionCoeff, ::Oyster::Math::Float staticFrictionCoeff, ::Oyster::Math::Float kineticFrictionCoeff, const ::Oyster::Math::Float4x4 &inertiaTensor, const ::Oyster::Math::Float4 &reach, const ::Oyster::Math::Float4 &centerPos, const ::Oyster::Math::Float4 &rotation, const ::Oyster::Math::Float4 &linearMomentum, const ::Oyster::Math::Float4 &angularMomentum )
inline CustomBodyState::CustomBodyState( ::Oyster::Math::Float mass, ::Oyster::Math::Float restitutionCoeff, ::Oyster::Math::Float staticFrictionCoeff, ::Oyster::Math::Float kineticFrictionCoeff, const ::Oyster::Math::Float4x4 &inertiaTensor, const ::Oyster::Math::Float4 &reach, const ::Oyster::Math::Float4 &centerPos, const ::Oyster::Math::Float4 &rotation, const ::Oyster::Math::Float4 &linearMomentum, const ::Oyster::Math::Float4 &angularMomentum, const ::Oyster::Math::Float4 &gravityNormal )
{
this->mass = mass;
this->restitutionCoeff = restitutionCoeff;
@ -54,6 +54,7 @@ namespace Oyster
this->linearImpulse = this->angularImpulse = ::Oyster::Math::Float4::null;
this->deltaPos = this->deltaAxis = ::Oyster::Math::Float4::null;
this->isSpatiallyAltered = this->isDisturbed = this->isForwarded = false;
this->gravityNormal = gravityNormal;
}
inline CustomBodyState & CustomBodyState::operator = ( const CustomBodyState &state )
@ -75,6 +76,7 @@ namespace Oyster
this->isSpatiallyAltered = state.isSpatiallyAltered;
this->isDisturbed = state.isDisturbed;
this->isForwarded = state.isForwarded;
this->gravityNormal = state.gravityNormal;
return *this;
}
@ -183,6 +185,11 @@ namespace Oyster
return this->deltaAxis;
}
inline const ::Oyster::Math::Float4 & CustomBodyState::GetGravityNormal() const
{
return this->gravityNormal;
}
inline void CustomBodyState::SetMass_KeepMomentum( ::Oyster::Math::Float m )
{
this->mass = m;
@ -285,6 +292,11 @@ namespace Oyster
this->isDisturbed = true;
}
inline void CustomBodyState::SetGravityNormal( const ::Oyster::Math::Float4 &gravityNormal )
{
this->gravityNormal = gravityNormal;
}
inline void CustomBodyState::AddRotation( const ::Oyster::Math::Float4 &angularAxis )
{
this->angularAxis += angularAxis;

6
Code/GamePhysics/PhysicsStructs.h
View File

@ -53,7 +53,8 @@ namespace Oyster { namespace Physics
const ::Oyster::Math::Float4 &centerPos = ::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 );
const ::Oyster::Math::Float4 &angularMomentum = ::Oyster::Math::Float4::null,
const ::Oyster::Math::Float4 &gravityNormal = ::Oyster::Math::Float4::null);
CustomBodyState & operator = ( const CustomBodyState &state );
@ -78,6 +79,7 @@ namespace Oyster { namespace Physics
const ::Oyster::Math::Float4 & GetAngularImpulse() const;
const ::Oyster::Math::Float4 & GetForward_DeltaPos() const;
const ::Oyster::Math::Float4 & GetForward_DeltaAxis() const;
const ::Oyster::Math::Float4 & GetGravityNormal() const;
void SetMass_KeepMomentum( ::Oyster::Math::Float m );
void SetMass_KeepVelocity( ::Oyster::Math::Float m );
@ -95,6 +97,7 @@ namespace Oyster { namespace Physics
void SetAngularMomentum( const ::Oyster::Math::Float4 &h );
void SetLinearImpulse( const ::Oyster::Math::Float4 &j );
void SetAngularImpulse( const ::Oyster::Math::Float4 &j );
void SetGravityNormal( const ::Oyster::Math::Float4 &gravityNormal );
void AddRotation( const ::Oyster::Math::Float4 &angularAxis );
void AddTranslation( const ::Oyster::Math::Float4 &deltaPos );
@ -115,6 +118,7 @@ namespace Oyster { namespace Physics
::Oyster::Math::Float4 linearMomentum, angularMomentum;
::Oyster::Math::Float4 linearImpulse, angularImpulse;
::Oyster::Math::Float4 deltaPos, deltaAxis; // Forwarding data sum
::Oyster::Math::Float4 gravityNormal;
bool isSpatiallyAltered, isDisturbed, isForwarded;
};

3
Code/OysterPhysics3D/RigidBody.h
View File

@ -20,7 +20,8 @@ namespace Oyster { namespace Physics3D
momentum_Linear, //!< The linear momentum G (kg*m/s).
momentum_Angular, //!< The angular momentum H (Nm*s) around an parallell axis.
impulse_Linear, //!< The linear impulse sum Jl (kg*m/s) that will be consumed each update.
impulse_Angular; //!< The angular impulse sum Ja (kg*m^2/s) that will be consumed each update.
impulse_Angular, //!< The angular impulse sum Ja (kg*m^2/s) that will be consumed each update.
gravityNormal;
::Oyster::Math::Float restitutionCoeff, //!<
frictionCoeff_Static, //!<
frictionCoeff_Kinetic; //!<