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Robin's fix part of RigidBody.cpp DONE

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Robin Engman 2013-11-20 11:48:39 +01:00
parent 2149ca8ab5
commit 80301ae02e
1 changed files with 22 additions and 93 deletions
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115
Code/OysterPhysics3D/RigidBody.cpp
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@ -243,58 +243,28 @@ Float3 RigidBody::GetTangentialImpulseForceAt( const Float3 &worldPos ) const
return Formula::TangentialImpulseForce( this->impulseTorqueSum, worldOffset );
}
// Dan
//////////////////////////////////////////////////////////////////////////////////////////////////////////////
// Robin
Float3 RigidBody::GetTangentialLinearMomentumAt_Local( const Float3 &localPos ) const
Float3 RigidBody::GetTangentialLinearMomentumAt( const Float3 &worldPos ) const
{ // by Dan Andersson
return Formula::TangentialLinearMomentum( this->angularMomentum, localPos );
return Formula::TangentialLinearMomentum( this->angularMomentum, worldPos );
}
Float3 RigidBody::GetTangentialLinearMomentumAt_World( const Float3 &worldPos ) const
{ // by Dan Andersson
return this->GetTangentialLinearMomentumAt_Local( (this->GetView() * Float4(worldPos, 1.0f)).xyz ); // should not be any disform thus result.w = 1.0f
}
Float3 RigidBody::GetTangentialImpulseAccelerationAt_Local( const Float3 &localPos ) const
{ // by Dan Andersson
return Formula::TangentialImpulseAcceleration( this->momentOfInertiaTensor.GetInverse(), this->impulseTorqueSum, localPos );
}
Float3 RigidBody::GetTangentialImpulseAccelerationAt_World( const Float3 &worldPos ) const
Float3 RigidBody::GetTangentialImpulseAccelerationAt( const Float3 &worldPos ) const
{ // by Dan Andersson
return this->GetTangentialImpulseAccelerationAt_Local( (this->GetView() * Float4(worldPos, 1.0f)).xyz ); // should not be any disform thus result.w = 1.0f
}
Float3 RigidBody::GetTangentialLinearVelocityAt_Local( const Float3 &localPos ) const
{ // by Dan Andersson
return Formula::TangentialLinearVelocity( this->momentOfInertiaTensor.GetInverse(), this->angularMomentum, localPos );
}
Float3 RigidBody::GetTangentialLinearVelocityAt_World( const Float3 &worldPos ) const
Float3 RigidBody::GetTangentialLinearVelocityAt( const Float3 &worldPos ) const
{ // by Dan Andersson
return this->GetTangentialLinearVelocityAt_Local( (this->GetView() * Float4(worldPos, 1.0f)).xyz ); // should not be any disform thus result.w = 1.0f
}
Float3 RigidBody::GetImpulseForceAt_Local( const Float3 &localPos ) const
{ // by Dan Andersson
return this->impulseForceSum + Formula::TangentialImpulseForce( this->impulseForceSum, localPos );
}
Float3 RigidBody::GetImpulseForceAt_World( const Float3 &worldPos ) const
Float3 RigidBody::GetImpulseForceAt( const Float3 &worldPos ) const
{ // by Dan Andersson
Float4 localForce = Float4( this->GetImpulseForceAt_Local((this->GetView() * Float4(worldPos, 1.0f)).xyz), 0.0f ); // should not be any disform thus result.w = 1.0f
return (this->box.orientation * localForce).xyz; // should not be any disform thus result.w = 0.0f
}
Float3 RigidBody::GetLinearMomentumAt_Local( const Float3 &localPos ) const
{ // by Dan Andersson
// Reminder! Momentum is a world value.
return Float3::null; // TODO:
}
Float3 RigidBody::GetLinearMomentumAt_World( const Float3 &worldPos ) const
Float3 RigidBody::GetLinearMomentumAt( const Float3 &worldPos ) const
{ // by Dan Andersson
// Reminder! Momentum is a world value.
Float4 localMomentum = Float4( this->GetLinearMomentumAt_Local((this->GetView() * Float4(worldPos, 1.0f)).xyz), 0.0f ); // should not be any disform thus result.w = 1.0f
@ -304,35 +274,21 @@ Float3 RigidBody::GetLinearMomentumAt_World( const Float3 &worldPos ) const
return this->linearMomentum + Formula::TangentialLinearMomentum( this->angularMomentum, worldPos );
}
Float3 RigidBody::GetImpulseAccelerationAt_Local( const Float3 &localPos ) const
{ // by Dan Andersson
// Reminder! Acceleration is a world value.
Float4 worldAccel = Float4( this->GetImpulseAccelerationAt_Local((this->box.orientation * Float4(localPos, 1.0f)).xyz), 0.0f ); // should not be any disform thus result.w = 1.0f
return (this->GetView() * worldAccel).xyz; // should not be any disform thus result.w = 0.0f
}
Float3 RigidBody::GetImpulseAccelerationAt_World( const Float3 &worldPos ) const
Float3 RigidBody::GetImpulseAccelerationAt( const Float3 &worldPos ) const
{ // by Dan Andersson
// Reminder! Acceleration is a world value.
return Formula::LinearImpulseAcceleration( this->mass, this->impulseForceSum )
+ Formula::TangentialImpulseAcceleration( this->momentOfInertiaTensor.GetInverse(), this->impulseTorqueSum, worldPos );
}
Float3 RigidBody::GetLinearVelocityAt_Local( const Float3 &localPos ) const
{ // by Dan Andersson
// Reminder! Velocity is a world value.
Float4 worldV = Float4( this->GetLinearVelocityAt_Local((this->box.orientation * Float4(localPos, 1.0f)).xyz), 0.0f ); // should not be any disform thus result.w = 1.0f
return (this->GetView() * worldV).xyz; // should not be any disform thus result.w = 0.0f
}
Float3 RigidBody::GetLinearVelocityAt_World( const Float3 &worldPos ) const
Float3 RigidBody::GetLinearVelocityAt( const Float3 &worldPos ) const
{ // by Dan Andersson
// Reminder! Velocity is a world value.
return Formula::LinearVelocity( this->mass, this->linearMomentum )
+ Formula::TangentialLinearVelocity( this->momentOfInertiaTensor.GetInverse(), this->angularMomentum, worldPos );
}
void RigidBody::SetMomentOfInertia( const Float4x4 &i )
void RigidBody::SetMomentOfInertia( const Float4x4 &localI )
{ // by Dan Andersson
if( i.GetDeterminant() != 0.0f ) // insanitycheck! momentOfInertiaTensor must be invertable
{
@ -368,98 +324,71 @@ void RigidBody::SetSize( const Float3 &widthHeight )
this->box.boundingOffset = 0.5f * widthHeight;
}
void RigidBody::SetCenter( const Float3 &p )
void RigidBody::SetCenter( const Float3 &worldPos )
{ // by Dan Andersson
this->box.center = p;
}
void RigidBody::SetImpulseTorque( const Float3 &t )
void RigidBody::SetImpulseTorque( const Float3 &worldT )
{ // by Dan Andersson
this->impulseTorqueSum = t;
}
void RigidBody::SetAngularMomentum( const Float3 &h )
void RigidBody::SetAngularMomentum( const Float3 &worldH )
{ // by Dan Andersson
this->angularMomentum = h;
}
void RigidBody::SetAngularImpulseAcceleration( const Float3 &a )
void RigidBody::SetAngularImpulseAcceleration( const Float3 &worldA )
{ // by Dan Andersson
this->impulseTorqueSum = Formula::ImpulseTorque( this->momentOfInertiaTensor, a );
}
void RigidBody::SetAngularVelocity( const Float3 &w )
void RigidBody::SetAngularVelocity( const Float3 &worldW )
{ // by Dan Andersson
this->angularMomentum = Formula::AngularMomentum( this->momentOfInertiaTensor, w );
}
void RigidBody::SetImpulseForce( const Float3 &f )
void RigidBody::SetImpulseForce( const Float3 &worldF )
{ // by Dan Andersson
this->impulseForceSum = f;
}
void RigidBody::SetLinearMomentum( const Float3 &g )
void RigidBody::SetLinearMomentum( const Float3 &worldG )
{ // by Dan Andersson
this->linearMomentum = g;
}
void RigidBody::SetLinearImpulseAcceleration( const Float3 &a )
void RigidBody::SetLinearImpulseAcceleration( const Float3 &worldA )
{ // by Dan Andersson
this->impulseForceSum = Formula::ImpulseForce( this->mass, a );
}
void RigidBody::SetLinearVelocity( const Float3 &v )
void RigidBody::SetLinearVelocity( const Float3 &worldV )
{ // by Dan Andersson
this->linearMomentum = Formula::LinearMomentum( this->mass, v );
}
void RigidBody::SetImpulseForceAt_Local( const Float3 &localForce, const Float3 &localPos )
{ // by Dan Andersson
// Reminder! Impulse force and torque is world values.
Float3 worldForce = ( this->box.orientation * Float4(localForce, 0.0f) ).xyz,
worldPos = ( this->box.orientation * Float4(localPos, 1.0f) ).xyz;
this->SetImpulseForceAt_World( worldForce, worldPos );
}
void RigidBody::SetImpulseForceAt_World( const Float3 &worldForce, const Float3 &worldPos )
void RigidBody::SetImpulseForceAt( const Float3 &worldF, const Float3 &worldPos )
{ // by Dan Andersson
// Reminder! Impulse force and torque is world values.
this->impulseForceSum = VectorProjection( worldForce, worldPos );
this->impulseTorqueSum = Formula::ImpulseTorque( worldForce, worldPos );
}
void RigidBody::SetLinearMomentumAt_Local( const Float3 &localG, const Float3 &localPos )
{ // by Dan Andersson
// Reminder! Linear and angular momentum is world values.
Float3 worldG = ( this->box.orientation * Float4(localG, 0.0f) ).xyz,
worldPos = ( this->box.orientation * Float4(localPos, 1.0f) ).xyz;
this->SetLinearMomentumAt_World( worldG, worldPos );
}
void RigidBody::SetLinearMomentumAt_World( const Float3 &worldG, const Float3 &worldPos )
void RigidBody::SetLinearMomentumAt( const Float3 &worldG, const Float3 &worldPos )
{ // by Dan Andersson
// Reminder! Linear and angular momentum is world values.
this->linearMomentum = VectorProjection( worldG, worldPos );
this->angularMomentum = Formula::AngularMomentum( worldG, worldPos );
}
void RigidBody::SetImpulseAccelerationAt_Local( const Float3 &a, const Float3 &pos )
{ // by Dan Andersson
}
void RigidBody::SetImpulseAccelerationAt_World( const Float3 &a, const Float3 &pos )
void RigidBody::SetImpulseAccelerationAt( const Float3 &worldA, const Float3 &pos )
{ // by
}
void RigidBody::SetLinearVelocityAt_Local( const Float3 &v, const Float3 &pos )
{ // by
}
void RigidBody::SetLinearVelocityAt_World( const Float3 &v, const Float3 &pos )
void RigidBody::SetLinearVelocityAt( const Float3 &worldV, const Float3 &pos )
{ // by
}