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SimpleRigid functions mirrored in SphericalRigid 

The functions added to SimpleRigidBody has been added to
SphericalRigidBody too.
This commit is contained in:
Robin Engman 2013-12-20 11:36:39 +01:00 committed by Dander7BD
parent ec0f0e0d14
commit 66e93fbdae
2 changed files with 26 additions and 2 deletions
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24
Code/GamePhysics/Implementation/SphericalRigidBody.cpp
View File

@ -14,7 +14,7 @@ SphericalRigidBody::SphericalRigidBody()
this->rigid.SetMass_KeepMomentum( 10.0f ); this->rigid.SetMass_KeepMomentum( 10.0f );
this->gravityNormal = Float3::null; this->gravityNormal = Float3::null;
this->collisionAction = Default::EventAction_Collision; this->collisionAction = Default::EventAction_Collision;
this->ignoreGravity = false; this->ignoreGravity = this->isForwarded = false;
this->scene = nullptr; this->scene = nullptr;
this->body = Sphere( Float3::null, 0.5f ); this->body = Sphere( Float3::null, 0.5f );
} }
@ -27,6 +27,8 @@ SphericalRigidBody::SphericalRigidBody( const API::SphericalBodyDescription &des
this->rigid.boundingReach = Float4( desc.radius, desc.radius, desc.radius, 0.0f ); this->rigid.boundingReach = Float4( desc.radius, desc.radius, desc.radius, 0.0f );
this->rigid.SetMass_KeepMomentum( desc.mass ); this->rigid.SetMass_KeepMomentum( desc.mass );
this->rigid.SetMomentOfInertia_KeepMomentum( Formula::MomentOfInertia::CreateSphereMatrix( desc.mass, desc.radius ) ); this->rigid.SetMomentOfInertia_KeepMomentum( Formula::MomentOfInertia::CreateSphereMatrix( desc.mass, desc.radius ) );
this->deltaPos = Float4::null;
this->deltaAxis = Float4::null;
this->gravityNormal = Float3::null; this->gravityNormal = Float3::null;
@ -82,6 +84,13 @@ void SphericalRigidBody::SetState( const SphericalRigidBody::State &state )
this->rigid.frictionCoeff_Static = state.GetFrictionCoeff_Static(); this->rigid.frictionCoeff_Static = state.GetFrictionCoeff_Static();
this->rigid.frictionCoeff_Kinetic = state.GetFrictionCoeff_Kinetic(); this->rigid.frictionCoeff_Kinetic = state.GetFrictionCoeff_Kinetic();
if( state.IsForwarded() )
{
this->deltaPos += state.GetForward_DeltaPos();
this->deltaAxis += state.GetForward_DeltaAxis();
this->isForwarded = false;
}
if( this->scene ) if( this->scene )
{ {
if( state.IsSpatiallyAltered() ) if( state.IsSpatiallyAltered() )
@ -171,6 +180,14 @@ Float3 SphericalRigidBody::GetRigidLinearVelocity() const
UpdateState SphericalRigidBody::Update( Float timeStepLength ) UpdateState SphericalRigidBody::Update( Float timeStepLength )
{ {
if( this->isForwarded )
{
this->rigid.Move( this->deltaPos, this->deltaAxis );
this->deltaPos = Float4::null;
this->deltaAxis = Float4::null;
this->isForwarded = false;
}
this->rigid.Update_LeapFrog( timeStepLength ); this->rigid.Update_LeapFrog( timeStepLength );
this->body.center = this->rigid.centerPos; this->body.center = this->rigid.centerPos;
@ -179,6 +196,11 @@ UpdateState SphericalRigidBody::Update( Float timeStepLength )
return UpdateState_altered; return UpdateState_altered;
} }
void SphericalRigidBody::Predict( ::Oyster::Math::Float4 &outDeltaPos, ::Oyster::Math::Float4 &outDeltaAxis, const ::Oyster::Math::Float4 &actingLinearImpulse, const ::Oyster::Math::Float4 &actingAngularImpulse, ::Oyster::Math::Float deltaTime )
{
this->rigid.Predict_LeapFrog( outDeltaPos, outDeltaAxis, actingLinearImpulse, actingAngularImpulse, deltaTime );
}
void SphericalRigidBody::SetSubscription( ICustomBody::EventAction_Collision functionPointer ) void SphericalRigidBody::SetSubscription( ICustomBody::EventAction_Collision functionPointer )
{ {
if( functionPointer ) if( functionPointer )

4
Code/GamePhysics/Implementation/SphericalRigidBody.h
View File

@ -37,6 +37,7 @@ namespace Oyster { namespace Physics
//::Oyster::Math::Float4x4 & GetView( ::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 ); UpdateState Update( ::Oyster::Math::Float timeStepLength );
void Predict( ::Oyster::Math::Float4 &outDeltaPos, ::Oyster::Math::Float4 &outDeltaAxis, const ::Oyster::Math::Float4 &actingLinearImpulse, const ::Oyster::Math::Float4 &actingAngularImpulse, ::Oyster::Math::Float deltaTime );
void SetScene( void *scene ); void SetScene( void *scene );
void SetSubscription( EventAction_Collision functionPointer ); void SetSubscription( EventAction_Collision functionPointer );
@ -54,9 +55,10 @@ namespace Oyster { namespace Physics
private: private:
::Oyster::Physics3D::RigidBody rigid; ::Oyster::Physics3D::RigidBody rigid;
::Oyster::Math::Float4 deltaPos, deltaAxis;
::Oyster::Math::Float3 gravityNormal; ::Oyster::Math::Float3 gravityNormal;
EventAction_Collision collisionAction; EventAction_Collision collisionAction;
bool ignoreGravity; bool ignoreGravity, isForwarded;
Octree *scene; Octree *scene;
::Oyster::Collision3D::Sphere body; ::Oyster::Collision3D::Sphere body;
}; };