Created SphericalRigidBody
A rotateable rigidbody that represents something spherical.
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Dander7BD
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29362c8c60
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62b1c68479
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#include "SphericalRigidBody.h"
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#include "PhysicsAPI_Impl.h"
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using namespace ::Oyster::Physics;
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using namespace ::Oyster::Math3D;
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using namespace ::Oyster::Collision3D;
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using namespace ::Utility::DynamicMemory;
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using namespace ::Utility::Value;
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SphericalRigidBody::SphericalRigidBody()
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: previous(), current( Box(Float4x4::identity, Float3::null, Float3(1.0f)) ),
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gravityNormal( 0.0f ),
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subscribeCollision( true ),
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ignoreGravity( false ),
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body( Float3::null, 0.5f ) {}
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SphericalRigidBody::~SphericalRigidBody() {}
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UniquePointer<ICustomBody> SphericalRigidBody::Clone() const
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{
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return new SphericalRigidBody( *this );
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}
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bool SphericalRigidBody::IsSubscribingCollisions() const
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{ // Assumption
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return this->subscribeCollision;
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}
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bool SphericalRigidBody::IsAffectedByGravity() const
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{
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return !this->ignoreGravity;
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}
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bool SphericalRigidBody::Intersects( const ICustomBody &object, Float timeStepLength, Float &deltaWhen, Float3 &worldPointOfContact ) const
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{
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if( object.Intersects(this->body) )
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{ //! @todo TODO: better implementation needed
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deltaWhen = timeStepLength;
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worldPointOfContact = Average( this->body.center, object.GetCenter() );
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return true;
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}
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else
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{
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return false;
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}
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}
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bool SphericalRigidBody::Intersects( const ICollideable &shape ) const
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{
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return this->current.box.Intersects( shape );
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}
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Sphere & SphericalRigidBody::GetBoundingSphere( Sphere &targetMem ) const
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{
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return targetMem = this->body;
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}
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Float3 & SphericalRigidBody::GetNormalAt( const Float3 &worldPos, Float3 &targetMem ) const
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{
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//! @todo TODO: better implementation needed
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return targetMem = (worldPos - this->current.box.center).GetNormalized();
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}
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Float3 & SphericalRigidBody::GetGravityNormal( Float3 &targetMem ) const
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{
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return targetMem = this->gravityNormal;
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}
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Float3 & SphericalRigidBody::GetCenter( Float3 &targetMem ) const
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{
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return targetMem = this->current.box.center;
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}
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Float4x4 & SphericalRigidBody::GetRotation( Float4x4 &targetMem ) const
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{
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return targetMem = this->current.box.rotation;
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}
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Float4x4 & SphericalRigidBody::GetOrientation( Float4x4 &targetMem ) const
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{
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return targetMem = this->current.GetOrientation();
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}
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Float4x4 & SphericalRigidBody::GetView( Float4x4 &targetMem ) const
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{
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return targetMem = this->current.GetView();
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}
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UpdateState SphericalRigidBody::Update( Float timeStepLength )
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{
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this->previous = this->current; // memorizing the old state
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this->current.Update_LeapFrog( timeStepLength );
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this->body.center = this->current.GetCenter();
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// compare previous and new state and return result
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return this->current == this->previous ? resting : altered;
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}
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void SphericalRigidBody::SetGravity( bool ignore)
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{
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this->ignoreGravity = ignore;
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this->gravityNormal = Float3::null;
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}
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void SphericalRigidBody::SetGravityNormal( const Float3 &normalizedVector )
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{
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this->gravityNormal = normalizedVector;
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}
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void SphericalRigidBody::SetSubscription( bool subscribeCollision )
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{
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this->subscribeCollision = subscribeCollision;
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}
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void SphericalRigidBody::SetMomentOfInertiaTensor_KeepVelocity( const Float4x4 &localI )
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{
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this->current.SetMomentOfInertia_KeepVelocity( localI );
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}
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void SphericalRigidBody::SetMomentOfInertiaTensor_KeepMomentum( const Float4x4 &localI )
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{
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this->current.SetMomentOfInertia_KeepMomentum( localI );
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}
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void SphericalRigidBody::SetMass_KeepVelocity( Float m )
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{
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this->current.SetMass_KeepVelocity( m );
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}
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void SphericalRigidBody::SetMass_KeepMomentum( Float m )
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{
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this->current.SetMass_KeepMomentum( m );
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}
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void SphericalRigidBody::SetCenter( const Float3 &worldPos )
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{
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this->current.SetCenter( worldPos );
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this->body.center = worldPos;
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}
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void SphericalRigidBody::SetRotation( const Float4x4 &rotation )
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{
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this->current.SetRotation( rotation );
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}
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void SphericalRigidBody::SetOrientation( const Float4x4 &orientation )
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{
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this->current.SetOrientation( orientation );
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this->body.center = orientation.v[3].xyz;
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}
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void SphericalRigidBody::SetSize( const Float3 &size )
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{
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this->current.SetSize( size );
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this->body.radius = 0.5f * Min( Min( size.x, size.y ), size.z ); // inline Min( FloatN )?
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}
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#ifndef OYSTER_PHYSICS_SPHERICAL_RIGIDBODY_H
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#define OYSTER_PHYSICS_SPHERICAL_RIGIDBODY_H
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#include "..\PhysicsAPI.h"
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#include "RigidBody.h"
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#include "Sphere.h"
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namespace Oyster { namespace Physics
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{
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class SphericalRigidBody : public ICustomBody
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{
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public:
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SphericalRigidBody();
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virtual ~SphericalRigidBody();
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::Utility::DynamicMemory::UniquePointer<ICustomBody> Clone() const;
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bool IsSubscribingCollisions() const;
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bool IsAffectedByGravity() const;
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bool Intersects( const ICustomBody &object, ::Oyster::Math::Float timeStepLength, ::Oyster::Math::Float &deltaWhen, ::Oyster::Math::Float3 &worldPointOfContact ) const;
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bool Intersects( const ::Oyster::Collision3D::ICollideable &shape ) const;
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::Oyster::Collision3D::Sphere & GetBoundingSphere( ::Oyster::Collision3D::Sphere &targetMem = ::Oyster::Collision3D::Sphere() ) const;
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::Oyster::Math::Float3 & GetNormalAt( const ::Oyster::Math::Float3 &worldPos, ::Oyster::Math::Float3 &targetMem = ::Oyster::Math::Float3() ) const;
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::Oyster::Math::Float3 & GetGravityNormal( ::Oyster::Math::Float3 &targetMem = ::Oyster::Math::Float3() ) const;
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::Oyster::Math::Float3 & GetCenter( ::Oyster::Math::Float3 &targetMem = ::Oyster::Math::Float3() ) const;
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::Oyster::Math::Float4x4 & GetRotation( ::Oyster::Math::Float4x4 &targetMem = ::Oyster::Math::Float4x4() ) const;
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::Oyster::Math::Float4x4 & GetOrientation( ::Oyster::Math::Float4x4 &targetMem = ::Oyster::Math::Float4x4() ) const;
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::Oyster::Math::Float4x4 & GetView( ::Oyster::Math::Float4x4 &targetMem = ::Oyster::Math::Float4x4() ) const;
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UpdateState Update( ::Oyster::Math::Float timeStepLength );
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void SetGravity( bool ignore);
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void SetGravityNormal( const ::Oyster::Math::Float3 &normalizedVector );
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void SetSubscription( bool subscribeCollision );
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void SetMomentOfInertiaTensor_KeepVelocity( const ::Oyster::Math::Float4x4 &localI );
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void SetMomentOfInertiaTensor_KeepMomentum( const ::Oyster::Math::Float4x4 &localI );
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void SetMass_KeepVelocity( ::Oyster::Math::Float m );
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void SetMass_KeepMomentum( ::Oyster::Math::Float m );
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void SetCenter( const ::Oyster::Math::Float3 &worldPos );
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void SetRotation( const ::Oyster::Math::Float4x4 &rotation );
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void SetOrientation( const ::Oyster::Math::Float4x4 &orientation );
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void SetSize( const ::Oyster::Math::Float3 &size );
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private:
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::Oyster::Physics3D::RigidBody previous, current;
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::Oyster::Math::Float3 gravityNormal;
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bool subscribeCollision, ignoreGravity;
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::Oyster::Collision3D::Sphere body;
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};
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} }
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#endif
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