GL - merge with physics

Code/GamePhysics/Implementation/PhysicsAPI_Impl.cpp

@@ -47,7 +47,7 @@ API_Impl::~API_Impl()
 }
 
 // Bullet physics
-ICustomBody* API_Impl::AddCollisionSphere(float radius, ::Oyster::Math::Float4 rotation, ::Oyster::Math::Float3 position, float mass)
+ICustomBody* API_Impl::AddCollisionSphere(float radius, ::Oyster::Math::Float4 rotation, ::Oyster::Math::Float3 position, float mass, float restitution, float staticFriction, float dynamicFriction)
 {
 	SimpleRigidBody* body = new SimpleRigidBody;
 
@@ -64,6 +64,8 @@ ICustomBody* API_Impl::AddCollisionSphere(float radius, ::Oyster::Math::Float4 r
 	collisionShape->calculateLocalInertia(mass, fallInertia);
 	btRigidBody::btRigidBodyConstructionInfo rigidBodyCI(mass, motionState, collisionShape, fallInertia);
     btRigidBody* rigidBody = new btRigidBody(rigidBodyCI);
+	rigidBody->setFriction(staticFriction);
+	rigidBody->setRestitution(restitution);
 	rigidBody->setUserPointer(body);
 	body->SetRigidBody(rigidBody);
 
@@ -73,7 +75,8 @@ ICustomBody* API_Impl::AddCollisionSphere(float radius, ::Oyster::Math::Float4 r
 
 	return body;
 }
-ICustomBody* API_Impl::AddCollisionBox(Float3 halfSize, ::Oyster::Math::Float4 rotation, ::Oyster::Math::Float3 position, float mass)
+
+ICustomBody* API_Impl::AddCollisionBox(Float3 halfSize, ::Oyster::Math::Float4 rotation, ::Oyster::Math::Float3 position, float mass, float restitution, float staticFriction, float dynamicFriction)
 {
 	SimpleRigidBody* body = new SimpleRigidBody;
 
@@ -90,6 +93,37 @@ ICustomBody* API_Impl::AddCollisionBox(Float3 halfSize, ::Oyster::Math::Float4 r
 	collisionShape->calculateLocalInertia(mass, fallInertia);
 	btRigidBody::btRigidBodyConstructionInfo rigidBodyCI(mass, motionState, collisionShape, fallInertia);
     btRigidBody* rigidBody = new btRigidBody(rigidBodyCI);
+	rigidBody->setFriction(staticFriction);
+	rigidBody->setRestitution(restitution);
+	rigidBody->setUserPointer(body);
+	body->SetRigidBody(rigidBody);
+
+	// Add rigid body to world
+	this->dynamicsWorld->addRigidBody(rigidBody);
+	this->customBodies.push_back(body);
+
+	return body;
+}
+
+ICustomBody* API_Impl::AddCollisionCylinder(::Oyster::Math::Float3 halfSize, ::Oyster::Math::Float4 rotation, ::Oyster::Math::Float3 position, float mass, float restitution, float staticFriction, float dynamicFriction)
+{
+	SimpleRigidBody* body = new SimpleRigidBody;
+
+	// Add collision shape
+	btCollisionShape* collisionShape = new btCylinderShape(btVector3(halfSize.x, halfSize.y, halfSize.z));
+	body->SetCollisionShape(collisionShape);
+
+	// Add motion state
+	btDefaultMotionState* motionState = new btDefaultMotionState(btTransform(btQuaternion(rotation.x, rotation.y, rotation.z, rotation.w),btVector3(position.x, position.y, position.z)));
+	body->SetMotionState(motionState);
+
+	// Add rigid body
+	btVector3 fallInertia(0, 0, 0);
+	collisionShape->calculateLocalInertia(mass, fallInertia);
+	btRigidBody::btRigidBodyConstructionInfo rigidBodyCI(mass, motionState, collisionShape, fallInertia);
+    btRigidBody* rigidBody = new btRigidBody(rigidBodyCI);
+	rigidBody->setFriction(staticFriction);
+	rigidBody->setRestitution(restitution);
 	rigidBody->setUserPointer(body);
 	body->SetRigidBody(rigidBody);
 
@@ -108,19 +142,15 @@ void API_Impl::UpdateWorld()
 
 	for(unsigned int i = 0; i < this->customBodies.size(); i++ )
 	{
-		this->customBodies[i]->GetState(state);
-
 		btTransform trans;
 		dynamic_cast<SimpleRigidBody*>(this->customBodies[i])->GetMotionState()->getWorldTransform(trans);
-		state.centerPos = Float3(trans.getOrigin().x(), trans.getOrigin().y(), trans.getOrigin().z());
+		this->customBodies[i]->SetPosition(Float3(trans.getOrigin().x(), trans.getOrigin().y(), trans.getOrigin().z()));
-		state.quaternion = Quaternion(Float3(trans.getRotation().x(), trans.getRotation().y(), trans.getRotation().z()), trans.getRotation().w());
+		this->customBodies[i]->SetRotation(Quaternion(Float3(trans.getRotation().x(), trans.getRotation().y(), trans.getRotation().z()), trans.getRotation().w()));
 		
 		if(dynamic_cast<SimpleRigidBody*>(this->customBodies[i])->GetRigidBody()->getActivationState() == ACTIVE_TAG)
 		{
 			dynamic_cast<SimpleRigidBody*>(this->customBodies[i])->CallSubscription_Move();
 		}
-
-		this->customBodies[i]->SetState(state);
 	}
 
 	int numManifolds = this->dynamicsWorld->getDispatcher()->getNumManifolds();

Code/GamePhysics/Implementation/PhysicsAPI_Impl.h

@@ -22,8 +22,9 @@ namespace Oyster
 			void ReleaseFromLimbo( const ICustomBody* objRef );
 
 			// Bullet physics
-			ICustomBody* AddCollisionSphere(float radius, ::Oyster::Math::Float4 rotation, ::Oyster::Math::Float3 position, float mass);
+			ICustomBody* AddCollisionSphere(float radius, ::Oyster::Math::Float4 rotation, ::Oyster::Math::Float3 position, float mass, float restitution, float staticFriction, float dynamicFriction);
-			ICustomBody* AddCollisionBox(::Oyster::Math::Float3 halfSize, ::Oyster::Math::Float4 rotation, ::Oyster::Math::Float3 position, float mass);
+			ICustomBody* AddCollisionBox(::Oyster::Math::Float3 halfSize, ::Oyster::Math::Float4 rotation, ::Oyster::Math::Float3 position, float mass, float restitution, float staticFriction, float dynamicFriction);
+			ICustomBody* AddCollisionCylinder(::Oyster::Math::Float3 halfSize, ::Oyster::Math::Float4 rotation, ::Oyster::Math::Float3 position, float mass, float restitution, float staticFriction, float dynamicFriction);
 
 			void UpdateWorld();
 

Code/GamePhysics/Implementation/SimpleRigidBody.cpp

@@ -64,6 +64,67 @@ void SimpleRigidBody::SetSubscription(EventAction_Move function)
 	this->onMovement = function;
 }
 
+void SimpleRigidBody::SetLinearVelocity(Float3 velocity)
+{
+	this->rigidBody->setLinearVelocity(btVector3(velocity.x, velocity.y, velocity.z));
+}
+
+void SimpleRigidBody::SetPosition(::Oyster::Math::Float3 position)
+{
+	btTransform trans;
+	this->motionState->getWorldTransform(trans);
+	trans.setOrigin(btVector3(position.x, position.y, position.z));
+	this->motionState->setWorldTransform(trans);
+	this->state.centerPos = position;
+}
+
+void SimpleRigidBody::SetRotation(Float4 quaternion)
+{
+	btTransform trans;
+	this->motionState->getWorldTransform(trans);
+	trans.setRotation(btQuaternion(quaternion.x, quaternion.y, quaternion.z, quaternion.w));
+	this->motionState->setWorldTransform(trans);
+	this->state.quaternion = Quaternion(quaternion.xyz, quaternion.w);
+}
+
+void SimpleRigidBody::SetRotation(::Oyster::Math::Quaternion quaternion)
+{
+	btTransform trans;
+	this->motionState->getWorldTransform(trans);
+	trans.setRotation(btQuaternion(quaternion.imaginary.x, quaternion.imaginary.y, quaternion.imaginary.z, quaternion.real));
+	this->motionState->setWorldTransform(trans);
+	this->state.quaternion = quaternion;
+}
+
+void SimpleRigidBody::SetRotation(Float3 eulerAngles)
+{
+	btTransform trans;
+	this->motionState->getWorldTransform(trans);
+	trans.setRotation(btQuaternion(eulerAngles.x, eulerAngles.y, eulerAngles.z));
+	this->motionState->setWorldTransform(trans);
+	this->state.quaternion = Quaternion(Float3(trans.getRotation().x(), trans.getRotation().y(), trans.getRotation().z()), trans.getRotation().w());
+}
+
+Float4x4 SimpleRigidBody::GetRotation() const
+{
+	return this->state.GetRotation();
+}
+
+Float4x4 SimpleRigidBody::GetOrientation() const
+{
+	return this->state.GetOrientation();
+}
+
+Float4x4 SimpleRigidBody::GetView() const
+{
+	return this->state.GetView();
+}
+
+Float4x4 SimpleRigidBody::GetView( const ::Oyster::Math::Float3 &offset ) const
+{
+	return this->state.GetView(offset);
+}
+
 void SimpleRigidBody::CallSubscription_AfterCollisionResponse(ICustomBody* bodyA, ICustomBody* bodyB, Oyster::Math::Float kineticEnergyLoss)
 {
 	if(this->onMovement)
@@ -91,22 +152,6 @@ btRigidBody* SimpleRigidBody::GetRigidBody() const
 	return this->rigidBody;
 }
 
-SimpleRigidBody::State SimpleRigidBody::GetState() const
-{
-	return this->state;
-}
-
-SimpleRigidBody::State & SimpleRigidBody::GetState( SimpleRigidBody::State &targetMem ) const
-{
-	targetMem = this->state;
-	return targetMem;
-}
-
-void SimpleRigidBody::SetState( const SimpleRigidBody::State &state )
-{
-	this->state = state;
-}
-
 void * SimpleRigidBody::GetCustomTag() const
 {
 	return this->customTag;

Code/GamePhysics/Implementation/SimpleRigidBody.h

@@ -21,13 +21,20 @@ namespace Oyster
 			void SetSubscription(EventAction_AfterCollisionResponse function);
 			void SetSubscription(EventAction_Move function);
 
+			void SetLinearVelocity(Math::Float3 velocity);
+			void SetPosition(::Oyster::Math::Float3 position);
+			void SetRotation(Math::Float4 quaternion);
+			void SetRotation(::Oyster::Math::Quaternion quaternion);
+			void SetRotation(Math::Float3 eulerAngles);
+
+			Math::Float4x4 GetRotation() const;
+			Math::Float4x4 GetOrientation() const;
+			Math::Float4x4 GetView() const;
+			Math::Float4x4 GetView( const ::Oyster::Math::Float3 &offset ) const;
+
 			void CallSubscription_AfterCollisionResponse(ICustomBody* bodyA, ICustomBody* bodyB, Math::Float kineticEnergyLoss);
 			void CallSubscription_Move();
 
-			State GetState() const;
-			State & GetState( State &targetMem ) const;
-			void SetState( const State &state );
-
 			btCollisionShape* GetCollisionShape() const;
 			btDefaultMotionState* GetMotionState() const;
 			btRigidBody* GetRigidBody() const;

Code/GamePhysics/PhysicsAPI.h

@@ -80,9 +80,9 @@ namespace Oyster
 
 
 			// Bullet physics
-			virtual ICustomBody* AddCollisionSphere(float radius, ::Oyster::Math::Float4 rotation, ::Oyster::Math::Float3 position, float mass) = 0;
+			virtual ICustomBody* AddCollisionSphere(float radius, ::Oyster::Math::Float4 rotation, ::Oyster::Math::Float3 position, float mass, float restitution, float staticFriction, float dynamicFriction) = 0;
-
+			virtual ICustomBody* AddCollisionBox(::Oyster::Math::Float3 halfSize, ::Oyster::Math::Float4 rotation, ::Oyster::Math::Float3 position, float mass, float restitution, float staticFriction, float dynamicFriction) = 0;
-			virtual ICustomBody* AddCollisionBox(::Oyster::Math::Float3 halfSize, ::Oyster::Math::Float4 rotation, ::Oyster::Math::Float3 position, float mass) = 0;
+			virtual ICustomBody* AddCollisionCylinder(::Oyster::Math::Float3 halfSize, ::Oyster::Math::Float4 rotation, ::Oyster::Math::Float3 position, float mass, float restitution, float staticFriction, float dynamicFriction) = 0;
 
 			virtual void UpdateWorld() = 0;
 
@@ -123,27 +123,20 @@ namespace Oyster
 
 			virtual ~ICustomBody() {};
 
-			/********************************************************
-			 * Gets the current state of the rigid body
-			 * @return the current state of the rigid body
-			 ********************************************************/
-			virtual State GetState() const = 0;
-
-			/********************************************************
-			 * Gets the current state of the rigid body
-			 * @param targetMem: The state is copied into targetMem
-			 * @return the current state of the rigid body
-			 ********************************************************/
-			virtual State & GetState( State &targetMem ) const = 0;
-
-			/********************************************************
-			 * Sets the current state of the rigid body
-			 ********************************************************/
-			virtual void SetState( const State &state ) = 0;		
 
 			virtual void SetSubscription(EventAction_AfterCollisionResponse function) = 0;
 			virtual void SetSubscription(EventAction_Move function) = 0;
 
+			virtual void SetLinearVelocity(::Oyster::Math::Float3 velocity) = 0;
+			virtual void SetPosition(::Oyster::Math::Float3 position) = 0;
+			virtual void SetRotation(::Oyster::Math::Float4 quaternion) = 0;
+			virtual void SetRotation(::Oyster::Math::Quaternion quaternion) = 0;
+			virtual void SetRotation(::Oyster::Math::Float3 eulerAngles) = 0;
+
+			::Oyster::Math::Float4x4 GetRotation() const;
+			::Oyster::Math::Float4x4 GetOrientation() const;
+			::Oyster::Math::Float4x4 GetView() const;
+			::Oyster::Math::Float4x4 GetView( const ::Oyster::Math::Float3 &offset ) const;
 
 			/********************************************************
 			 * @return the void pointer set by SetCustomTag.

Code/GamePhysics/PhysicsStructs.h

@@ -30,8 +30,7 @@ namespace Oyster
 				::Oyster::Math::Float4x4	 GetOrientation() const;
 				::Oyster::Math::Float4x4	 GetView() const;
 				::Oyster::Math::Float4x4	 GetView( const ::Oyster::Math::Float3 &offset ) const;
-			void CustomBodyState::ApplyFriction( const ::Oyster::Math::Float3 &j);
+			
-
 				// Variables for state
 				::Oyster::Math::Float mass, restitutionCoeff, staticFrictionCoeff, dynamicFrictionCoeff;
 				::Oyster::Math::Float3 reach, centerPos;