OysterPhysics3D updated
* changed Float4 in header API to Float3 * removed all Set...( Float4x4 ) methods
This commit is contained in:
Dander7BD
parent
a07e2911de
commit
6be72da03a
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@ -26,26 +26,26 @@ MomentOfInertia & MomentOfInertia::operator = ( const MomentOfInertia &i )
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return *this;
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}
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Float4 MomentOfInertia::CalculateAngularVelocity( const Quaternion &externR, const Float4 &h ) const
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Float3 MomentOfInertia::CalculateAngularVelocity( const Quaternion &externR, const Float3 &h ) const
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{
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return this->CalculateAngularVelocity( externR, h, Float4() );
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return this->CalculateAngularVelocity( externR, h, Float3() );
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}
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Float4 & MomentOfInertia::CalculateAngularVelocity( const Quaternion &externR, const Float4 &h, Float4 &targetMem ) const
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Float3 & MomentOfInertia::CalculateAngularVelocity( const Quaternion &externR, const Float3 &h, Float3 &targetMem ) const
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{ // w = (R * I_R) * I_M^-1 * (R * I_R)^-1 * h
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Float4x4 rotation = RotationMatrix( externR ) * RotationMatrix( this->rotation );
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Float4 w = rotation.GetInverse() * h;
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Float4 w = rotation.GetInverse() * Float4( h, 0.0f );
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return targetMem = rotation * w.PiecewiseMultiplicationAdd( Float4(1.0f / this->magnitude.x, 1.0f / this->magnitude.y, 1.0f / this->magnitude.z, 0.0f) );
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}
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Float4 MomentOfInertia::CalculateAngularMomentum( const Quaternion &externR, const Float4 &w ) const
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Float3 MomentOfInertia::CalculateAngularMomentum( const Quaternion &externR, const Float3 &w ) const
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{
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return this->CalculateAngularMomentum( externR, w, Float4() );
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return this->CalculateAngularMomentum( externR, w, Float3() );
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}
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Float4 & MomentOfInertia::CalculateAngularMomentum( const Quaternion &externR, const Float4 &w, Float4 &targetMem ) const
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Float3 & MomentOfInertia::CalculateAngularMomentum( const Quaternion &externR, const Float3 &w, Float3 &targetMem ) const
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{ // h = (R * I_R) * I_M * (R * I_R)^-1 * w
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Float4x4 rotation = RotationMatrix( externR ) * RotationMatrix( this->rotation );
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Float4 h = rotation.GetInverse() * w;
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Float4 h = rotation.GetInverse() * Float4( w, 0.0f );
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return targetMem = rotation * h.PiecewiseMultiplicationAdd( Float4(this->magnitude.x, this->magnitude.y, this->magnitude.z, 0.0f) );
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}
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@ -19,11 +19,11 @@ namespace Oyster { namespace Physics3D
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MomentOfInertia & operator = ( const MomentOfInertia &i );
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::Oyster::Math::Float4 CalculateAngularVelocity( const ::Oyster::Math::Quaternion &externR, const ::Oyster::Math::Float4 &angularMomentum ) const;
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::Oyster::Math::Float4 & CalculateAngularVelocity( const ::Oyster::Math::Quaternion &externR, const ::Oyster::Math::Float4 &angularMomentum, ::Oyster::Math::Float4 &targetMem ) const;
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::Oyster::Math::Float3 CalculateAngularVelocity( const ::Oyster::Math::Quaternion &externR, const ::Oyster::Math::Float3 &angularMomentum ) const;
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::Oyster::Math::Float3 & CalculateAngularVelocity( const ::Oyster::Math::Quaternion &externR, const ::Oyster::Math::Float3 &angularMomentum, ::Oyster::Math::Float3 &targetMem ) const;
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::Oyster::Math::Float4 CalculateAngularMomentum( const ::Oyster::Math::Quaternion &externR, const ::Oyster::Math::Float4 &angularVelocity ) const;
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::Oyster::Math::Float4 & CalculateAngularMomentum( const ::Oyster::Math::Quaternion &externR, const ::Oyster::Math::Float4 &angularVelocity, ::Oyster::Math::Float4 &targetMem ) const;
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::Oyster::Math::Float3 CalculateAngularMomentum( const ::Oyster::Math::Quaternion &externR, const ::Oyster::Math::Float3 &angularVelocity ) const;
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::Oyster::Math::Float3 & CalculateAngularMomentum( const ::Oyster::Math::Quaternion &externR, const ::Oyster::Math::Float3 &angularVelocity, ::Oyster::Math::Float3 &targetMem ) const;
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static ::Oyster::Math::Float CalculateSphere( const ::Oyster::Math::Float mass, const ::Oyster::Math::Float radius );
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static ::Oyster::Math::Float CalculateHollowSphere( const ::Oyster::Math::Float mass, const ::Oyster::Math::Float radius );
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@ -72,7 +72,7 @@ void RigidBody::Update_LeapFrog( Float updateFrameLength )
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this->impulse_Angular = Float4::null;
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}
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void RigidBody::Predict_LeapFrog( Float4 &outDeltaPos, Float4 &outDeltaAxis, const Float4 &actingLinearImpulse, const Float4 &actingAngularImpulse, Float deltaTime )
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void RigidBody::Predict_LeapFrog( Float3 &outDeltaPos, Float3 &outDeltaAxis, const Float3 &actingLinearImpulse, const Float3 &actingAngularImpulse, Float deltaTime )
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{
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// updating the linear
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// ds = dt * Formula::LinearVelocity( m, avg_G ) = dt * avg_G / m = (dt / m) * avg_G
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@ -87,17 +87,17 @@ void RigidBody::Predict_LeapFrog( Float4 &outDeltaPos, Float4 &outDeltaAxis, con
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outDeltaAxis = this->momentOfInertiaTensor.CalculateAngularVelocity( this->rotation, AverageWithDelta(this->momentum_Angular, this->impulse_Angular) );
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}
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void RigidBody::Move( const Float4 &deltaPos, const Float4 &deltaAxis )
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void RigidBody::Move( const Float3 &deltaPos, const Float3 &deltaAxis )
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{
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this->centerPos += deltaPos;
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this->axis += deltaAxis;
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this->rotation = Rotation( this->axis );
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}
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void RigidBody::ApplyImpulse( const Float4 &worldJ, const Float4 &atWorldPos )
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void RigidBody::ApplyImpulse( const Float3 &worldJ, const Float3 &atWorldPos )
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{ // by Dan Andersson
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Float4 worldOffset = atWorldPos - this->centerPos;
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if( worldOffset != Float4::null )
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Float3 worldOffset = atWorldPos - this->centerPos;
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if( worldOffset != Float3::null )
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{
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this->impulse_Linear += VectorProjection( worldJ, atWorldPos );
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this->impulse_Angular += Formula::ImpulseTorque( worldJ, atWorldPos );
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@ -118,7 +118,7 @@ Float RigidBody::GetMass() const
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return this->mass;
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}
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const Quaternion & RigidBody::GetRotation() const
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const Quaternion & RigidBody::GetRotationQuaternion() const
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{ // by Dan Andersson
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return this->rotation;
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}
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@ -138,24 +138,24 @@ Float4x4 RigidBody::GetView() const
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return ViewMatrix( this->rotation, this->centerPos );
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}
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Float4 RigidBody::GetVelocity_Linear() const
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Float3 RigidBody::GetVelocity_Linear() const
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{ // by Dan Andersson
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return Formula::LinearVelocity( this->mass, this->momentum_Linear );
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}
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Float4 RigidBody::GetVelocity_Angular() const
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Float3 RigidBody::GetVelocity_Angular() const
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{ // by Dan Andersson
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return this->momentOfInertiaTensor.CalculateAngularVelocity( this->rotation, this->momentum_Angular );
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}
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Float4 RigidBody::GetLinearMomentum( const Float4 &atWorldPos ) const
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Float3 RigidBody::GetLinearMomentum( const Float3 &atWorldPos ) const
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{ // by Dan Andersson
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return this->momentum_Linear + Formula::TangentialLinearMomentum( this->momentum_Angular, atWorldPos - this->centerPos );
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}
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void RigidBody::SetMomentOfInertia_KeepVelocity( const MomentOfInertia &localTensorI )
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{ // by Dan Andersson
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Float4 w = this->momentOfInertiaTensor.CalculateAngularVelocity( this->rotation, this->momentum_Angular );
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Float3 w = this->momentOfInertiaTensor.CalculateAngularVelocity( this->rotation, this->momentum_Angular );
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this->momentOfInertiaTensor = localTensorI;
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this->momentum_Angular = this->momentOfInertiaTensor.CalculateAngularVelocity( this->rotation, w );
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}
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@ -169,7 +169,7 @@ void RigidBody::SetMass_KeepVelocity( const Float &m )
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{ // by Dan Andersson
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if( m != 0.0f )
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{ // insanity check! Mass must be invertable
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Float4 v = Formula::LinearVelocity( this->mass, this->momentum_Linear );
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Float3 v = Formula::LinearVelocity( this->mass, this->momentum_Linear );
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this->mass = m;
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this->momentum_Linear = Formula::LinearMomentum( this->mass, v );
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}
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@ -183,46 +183,46 @@ void RigidBody::SetMass_KeepMomentum( const Float &m )
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}
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}
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void RigidBody::SetOrientation( const Float4x4 &o )
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{ // by Dan Andersson
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this->axis = ExtractAngularAxis( o );
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this->rotation = Rotation( this->axis );
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this->centerPos = o.v[3].xyz;
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}
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//void RigidBody::SetOrientation( const Float4x4 &o )
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//{ // by Dan Andersson
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// this->axis = ExtractAngularAxis( o );
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// this->rotation = Rotation( this->axis );
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// this->centerPos = o.v[3].xyz;
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//}
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//
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//void RigidBody::SetRotation( const Float4x4 &r )
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//{ // by Dan Andersson
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// this->axis = ExtractAngularAxis( r );
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// this->rotation = Rotation( this->axis );
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//}
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void RigidBody::SetRotation( const Float4x4 &r )
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void RigidBody::SetMomentum_Linear( const Float3 &worldG, const Float3 &atWorldPos )
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{ // by Dan Andersson
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this->axis = ExtractAngularAxis( r );
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this->rotation = Rotation( this->axis );
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}
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void RigidBody::SetMomentum_Linear( const Float4 &worldG, const Float4 &atWorldPos )
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{ // by Dan Andersson
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Float4 worldOffset = atWorldPos - this->centerPos;
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Float3 worldOffset = atWorldPos - this->centerPos;
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this->momentum_Linear = VectorProjection( worldG, worldOffset );
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this->momentum_Angular = Formula::AngularMomentum( worldG, worldOffset );
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}
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void RigidBody::SetVelocity_Linear( const Float4 &worldV )
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void RigidBody::SetVelocity_Linear( const Float3 &worldV )
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{ // by Dan Andersson
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this->momentum_Linear = Formula::LinearMomentum( this->mass, worldV );
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}
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void RigidBody::SetVelocity_Linear( const Float4 &worldV, const Float4 &atWorldPos )
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void RigidBody::SetVelocity_Linear( const Float3 &worldV, const Float3 &atWorldPos )
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{ // by Dan Andersson
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Float4 worldOffset = atWorldPos - this->centerPos;
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Float3 worldOffset = atWorldPos - this->centerPos;
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this->momentum_Linear = Formula::LinearMomentum( this->mass, VectorProjection(worldV, worldOffset) );
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this->momentum_Angular = this->momentOfInertiaTensor.CalculateAngularMomentum( this->rotation, Formula::AngularVelocity(worldV, worldOffset) );
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}
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void RigidBody::SetVelocity_Angular( const Float4 &worldW )
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void RigidBody::SetVelocity_Angular( const Float3 &worldW )
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{ // by Dan Andersson
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this->momentum_Angular = this->momentOfInertiaTensor.CalculateAngularMomentum( this->rotation, worldW );
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}
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void RigidBody::SetImpulse_Linear( const Float4 &worldJ, const Float4 &atWorldPos )
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void RigidBody::SetImpulse_Linear( const Float3 &worldJ, const Float3 &atWorldPos )
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{ // by Dan Andersson
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Float4 worldOffset = atWorldPos - this->centerPos;
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Float3 worldOffset = atWorldPos - this->centerPos;
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this->impulse_Linear = VectorProjection( worldJ, worldOffset );
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this->impulse_Angular = Formula::ImpulseTorque( worldJ, worldOffset );
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}
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@ -15,7 +15,7 @@ namespace Oyster { namespace Physics3D
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struct RigidBody
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{ //! A struct of a simple rigid body.
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public:
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::Oyster::Math::Float4 centerPos, //!< Location of the body's center in the world.
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::Oyster::Math::Float3 centerPos, //!< Location of the body's center in the world.
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axis, //!< Euler rotationAxis of the body.
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boundingReach, //!<
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momentum_Linear, //!< The linear momentum G (kg*m/s).
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@ -32,29 +32,29 @@ namespace Oyster { namespace Physics3D
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RigidBody & operator = ( const RigidBody &body );
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void Update_LeapFrog( ::Oyster::Math::Float updateFrameLength );
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void Predict_LeapFrog( ::Oyster::Math::Float4 &outDeltaPos, ::Oyster::Math::Float4 &outDeltaAxis, const ::Oyster::Math::Float4 &actingLinearImpulse, const ::Oyster::Math::Float4 &actingAngularImpulse, ::Oyster::Math::Float deltaTime );
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void Predict_LeapFrog( ::Oyster::Math::Float3 &outDeltaPos, ::Oyster::Math::Float3 &outDeltaAxis, const ::Oyster::Math::Float3 &actingLinearImpulse, const ::Oyster::Math::Float3 &actingAngularImpulse, ::Oyster::Math::Float deltaTime );
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void Move( const ::Oyster::Math::Float4 &deltaPos, const ::Oyster::Math::Float4 &deltaAxis );
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void ApplyImpulse( const ::Oyster::Math::Float4 &worldJ, const ::Oyster::Math::Float4 &atWorldPos );
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void ApplyImpulse_Linear( const ::Oyster::Math::Float4 &worldJ );
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void ApplyImpulse_Angular( const ::Oyster::Math::Float4 &worldJ );
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void ApplyForce( const ::Oyster::Math::Float4 &worldF, ::Oyster::Math::Float updateFrameLength );
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void ApplyForce( const ::Oyster::Math::Float4 &worldF, ::Oyster::Math::Float updateFrameLength, const ::Oyster::Math::Float4 &atWorldPos );
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void Move( const ::Oyster::Math::Float3 &deltaPos, const ::Oyster::Math::Float3 &deltaAxis );
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void ApplyImpulse( const ::Oyster::Math::Float3 &worldJ, const ::Oyster::Math::Float3 &atWorldPos );
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void ApplyImpulse_Linear( const ::Oyster::Math::Float3 &worldJ );
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void ApplyImpulse_Angular( const ::Oyster::Math::Float3 &worldJ );
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void ApplyForce( const ::Oyster::Math::Float3 &worldF, ::Oyster::Math::Float updateFrameLength );
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void ApplyForce( const ::Oyster::Math::Float3 &worldF, ::Oyster::Math::Float updateFrameLength, const ::Oyster::Math::Float3 &atWorldPos );
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// GET METHODS ////////////////////////////////
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const ::Oyster::Physics3D::MomentOfInertia & GetMomentOfInertia() const;
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::Oyster::Math::Float GetMass() const;
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const ::Oyster::Math::Quaternion & GetRotation() const;
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const ::Oyster::Math::Quaternion & GetRotationQuaternion() const;
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::Oyster::Math::Float4x4 GetRotationMatrix() const;
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::Oyster::Math::Float4x4 GetOrientation() const;
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::Oyster::Math::Float4x4 GetView() const;
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::Oyster::Math::Float4x4 GetToWorldMatrix() const;
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::Oyster::Math::Float4x4 GetToLocalMatrix() const;
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::Oyster::Math::Float4 GetSize() const;
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::Oyster::Math::Float4 GetVelocity_Linear() const;
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::Oyster::Math::Float4 GetVelocity_Angular() const;
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::Oyster::Math::Float4 GetLinearMomentum( const ::Oyster::Math::Float4 &atWorldPos ) const;
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::Oyster::Math::Float3 GetSize() const;
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::Oyster::Math::Float3 GetVelocity_Linear() const;
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::Oyster::Math::Float3 GetVelocity_Angular() const;
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::Oyster::Math::Float3 GetLinearMomentum( const ::Oyster::Math::Float3 &atWorldPos ) const;
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// SET METHODS ////////////////////////////////
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@ -63,19 +63,19 @@ namespace Oyster { namespace Physics3D
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void SetMass_KeepVelocity( const ::Oyster::Math::Float &m );
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void SetMass_KeepMomentum( const ::Oyster::Math::Float &m );
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void SetOrientation( const ::Oyster::Math::Float4x4 &o );
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void SetRotation( const ::Oyster::Math::Float4x4 &r );
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void SetSize( const ::Oyster::Math::Float4 &widthHeight );
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//void SetOrientation( const ::Oyster::Math::Float4x4 &o );
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//void SetRotation( const ::Oyster::Math::Float4x4 &r );
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void SetSize( const ::Oyster::Math::Float3 &widthHeight );
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void SetMomentum_Linear( const ::Oyster::Math::Float4 &worldG, const ::Oyster::Math::Float4 &atWorldPos );
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void SetMomentum_Linear( const ::Oyster::Math::Float3 &worldG, const ::Oyster::Math::Float3 &atWorldPos );
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void SetVelocity_Linear( const ::Oyster::Math::Float4 &worldV );
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void SetVelocity_Linear( const ::Oyster::Math::Float4 &worldV, const ::Oyster::Math::Float4 &atWorldPos );
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void SetVelocity_Angular( const ::Oyster::Math::Float4 &worldW );
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void SetVelocity_Linear( const ::Oyster::Math::Float3 &worldV );
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void SetVelocity_Linear( const ::Oyster::Math::Float3 &worldV, const ::Oyster::Math::Float3 &atWorldPos );
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void SetVelocity_Angular( const ::Oyster::Math::Float3 &worldW );
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void SetImpulse_Linear( const ::Oyster::Math::Float4 &worldJ, const ::Oyster::Math::Float4 &atWorldPos );
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void SetForce( const ::Oyster::Math::Float4 &worldF, ::Oyster::Math::Float updateFrameLength );
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void SetForce( const ::Oyster::Math::Float4 &worldF, ::Oyster::Math::Float updateFrameLength, const ::Oyster::Math::Float4 &atWorldPos );
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void SetImpulse_Linear( const ::Oyster::Math::Float3 &worldJ, const ::Oyster::Math::Float3 &atWorldPos );
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//void SetForce( const ::Oyster::Math::Float3 &worldF, ::Oyster::Math::Float updateFrameLength );
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//void SetForce( const ::Oyster::Math::Float3 &worldF, ::Oyster::Math::Float updateFrameLength, const ::Oyster::Math::Float3 &atWorldPos );
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private:
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::Oyster::Math::Float mass; //!< m (kg)
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@ -10,22 +10,22 @@
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namespace Oyster { namespace Physics3D
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{
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inline void RigidBody::ApplyImpulse_Linear( const ::Oyster::Math::Float4 &worldJ )
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inline void RigidBody::ApplyImpulse_Linear( const ::Oyster::Math::Float3 &worldJ )
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{
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this->impulse_Linear += worldJ;
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}
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inline void RigidBody::ApplyImpulse_Angular( const ::Oyster::Math::Float4 &worldJ )
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inline void RigidBody::ApplyImpulse_Angular( const ::Oyster::Math::Float3 &worldJ )
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{
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this->impulse_Angular += worldJ;
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}
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inline void RigidBody::ApplyForce( const ::Oyster::Math::Float4 &worldF, ::Oyster::Math::Float updateFrameLength )
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inline void RigidBody::ApplyForce( const ::Oyster::Math::Float3 &worldF, ::Oyster::Math::Float updateFrameLength )
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{
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this->impulse_Linear += worldF * updateFrameLength;
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}
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inline void RigidBody::ApplyForce( const ::Oyster::Math::Float4 &worldF, ::Oyster::Math::Float updateFrameLength, const ::Oyster::Math::Float4 &atWorldPos )
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inline void RigidBody::ApplyForce( const ::Oyster::Math::Float3 &worldF, ::Oyster::Math::Float updateFrameLength, const ::Oyster::Math::Float3 &atWorldPos )
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{
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this->ApplyImpulse( worldF * updateFrameLength, atWorldPos );
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}
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@ -40,26 +40,25 @@ namespace Oyster { namespace Physics3D
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return this->GetView();
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}
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inline ::Oyster::Math::Float4 RigidBody::GetSize() const
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inline ::Oyster::Math::Float3 RigidBody::GetSize() const
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{
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return 2.0f * this->boundingReach;
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}
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inline void RigidBody::SetSize( const ::Oyster::Math::Float4 &widthHeight )
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inline void RigidBody::SetSize( const ::Oyster::Math::Float3 &widthHeight )
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{
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this->boundingReach = ::Utility::Value::Abs( 0.5f * widthHeight );
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}
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inline void RigidBody::SetForce( const ::Oyster::Math::Float4 &worldF, ::Oyster::Math::Float updateFrameLength )
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{
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this->impulse_Linear = worldF * updateFrameLength;
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}
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inline void RigidBody::SetForce( const ::Oyster::Math::Float4 &worldF, ::Oyster::Math::Float updateFrameLength, const ::Oyster::Math::Float4 &atWorldPos )
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||||
{
|
||||
this->SetImpulse_Linear( worldF * updateFrameLength, atWorldPos );
|
||||
}
|
||||
//inline void RigidBody::SetForce( const ::Oyster::Math::Float3 &worldF, ::Oyster::Math::Float updateFrameLength )
|
||||
//{
|
||||
// this->impulse_Linear = worldF * updateFrameLength;
|
||||
//}
|
||||
|
||||
//inline void RigidBody::SetForce( const ::Oyster::Math::Float3 &worldF, ::Oyster::Math::Float updateFrameLength, const ::Oyster::Math::Float3 &atWorldPos )
|
||||
//{
|
||||
// this->SetImpulse_Linear( worldF * updateFrameLength, atWorldPos );
|
||||
//}
|
||||
} }
|
||||
|
||||
#endif
|
||||
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Reference in New Issue