SimpleRigidBody factory done

not tested though

Code/GamePhysics/Implementation/PhysicsAPI_Impl.cpp

@@ -1,6 +1,7 @@
 #include "PhysicsAPI_Impl.h"
-#include "SimpleRigidBody.h"
 #include "OysterPhysics3D.h"
+#include "SimpleRigidBody.h"
+#include "SphericalRigidBody.h"
 
 using namespace ::Oyster::Physics;
 using namespace ::Oyster::Physics3D;
@@ -161,9 +162,14 @@ void API_Impl::SetSize( const ICustomBody* objRef, const Float3 &size )
 	//! @todo TODO: implement stub
 }
 
-UniquePointer<ICustomBody> API_Impl::CreateSimpleRigidBody() const
+UniquePointer<ICustomBody> API_Impl::CreateRigidBody( const API::SimpleBodyDescription &desc ) const
 {
-	return new SimpleRigidBody();
+	return new SimpleRigidBody( desc );
+}
+
+UniquePointer<ICustomBody> API_Impl::CreateRigidBody( const API::SphericalBodyDescription &desc ) const
+{
+	return new SphericalRigidBody();
 }
 
 namespace Oyster { namespace Physics { namespace Default

Code/GamePhysics/Implementation/PhysicsAPI_Impl.h

@@ -41,7 +41,9 @@ namespace Oyster
 			void SetOrientation( const ICustomBody* objRef, const ::Oyster::Math::Float4x4 &orientation );
 			void SetSize( const ICustomBody* objRef, const ::Oyster::Math::Float3 &size );
 
-			::Utility::DynamicMemory::UniquePointer<ICustomBody> CreateSimpleRigidBody() const;
+			::Utility::DynamicMemory::UniquePointer<ICustomBody> CreateRigidBody( const SimpleBodyDescription &desc ) const;
+			::Utility::DynamicMemory::UniquePointer<ICustomBody> CreateRigidBody( const SphericalBodyDescription &desc ) const;
+
 		private:
 			::Oyster::Math::Float gravityConstant, updateFrameLength;
 			EventAction_Destruction destructionAction;

Code/GamePhysics/Implementation/SimpleRigidBody.cpp

@@ -2,16 +2,38 @@
 #include "PhysicsAPI_Impl.h"
 
 using namespace ::Oyster::Physics;
+using namespace ::Oyster::Physics3D;
 using namespace ::Oyster::Math3D;
 using namespace ::Oyster::Collision3D;
 using namespace ::Utility::DynamicMemory;
 using namespace ::Utility::Value;
 
 SimpleRigidBody::SimpleRigidBody()
-	: previous(), current(),
+{
-	  gravityNormal(0.0f),
+	this->rigid = RigidBody();
-	  collisionAction(Default::EventAction_Collision),
+	this->gravityNormal = Float3::null;
-	  ignoreGravity(false) {}
+	this->collisionAction = Default::EventAction_Collision;
+	this->ignoreGravity = false;
+}
+
+SimpleRigidBody::SimpleRigidBody( const API::SimpleBodyDescription &desc )
+{
+	this->rigid = RigidBody( Box( desc.rotation, desc.centerPosition, desc.size  ),
+							 desc.mass,
+							 desc.inertiaTensor );
+	this->gravityNormal = Float3::null;
+	
+	if( desc.subscription )
+	{
+		this->collisionAction = desc.subscription;
+	}
+	else
+	{
+		this->collisionAction = Default::EventAction_Collision;
+	}
+
+	this->ignoreGravity = desc.ignoreGravity;
+}
 
 SimpleRigidBody::~SimpleRigidBody() {}
 
@@ -27,10 +49,10 @@ bool SimpleRigidBody::IsAffectedByGravity() const
 
 bool SimpleRigidBody::Intersects( const ICustomBody &object, Float timeStepLength, Float &deltaWhen, Float3 &worldPointOfContact ) const
 {
-	if( object.Intersects(this->current.box) )
+	if( object.Intersects(this->rigid.box) )
 	{ //! @todo TODO: better implementation needed
 		deltaWhen = timeStepLength;
-		worldPointOfContact = Average( this->current.box.center, object.GetCenter() );
+		worldPointOfContact = Average( this->rigid.box.center, object.GetCenter() );
 		return true;
 	}
 	else
@@ -41,18 +63,18 @@ bool SimpleRigidBody::Intersects( const ICustomBody &object, Float timeStepLengt
 
 bool SimpleRigidBody::Intersects( const ICollideable &shape ) const
 {
-	return this->current.box.Intersects( shape );
+	return this->rigid.box.Intersects( shape );
 }
 
 Sphere & SimpleRigidBody::GetBoundingSphere( Sphere &targetMem ) const
 {
-	return targetMem = Sphere( this->current.box.center, this->current.box.boundingOffset.GetMagnitude() );
+	return targetMem = Sphere( this->rigid.box.center, this->rigid.box.boundingOffset.GetMagnitude() );
 }
 
 Float3 & SimpleRigidBody::GetNormalAt( const Float3 &worldPos, Float3 &targetMem ) const
 {
 	//! @todo TODO: better implementation needed
-	return targetMem = (worldPos - this->current.box.center).GetNormalized();
+	return targetMem = (worldPos - this->rigid.box.center).GetNormalized();
 }
 
 Float3 & SimpleRigidBody::GetGravityNormal( Float3 &targetMem ) const
@@ -62,32 +84,31 @@ Float3 & SimpleRigidBody::GetGravityNormal( Float3 &targetMem ) const
 
 Float3 & SimpleRigidBody::GetCenter( Float3 &targetMem ) const
 {
-	return targetMem = this->current.box.center;
+	return targetMem = this->rigid.box.center;
 }
 
 Float4x4 & SimpleRigidBody::GetRotation( Float4x4 &targetMem ) const
 {
-	return targetMem = this->current.box.rotation;
+	return targetMem = this->rigid.box.rotation;
 }
 
 Float4x4 & SimpleRigidBody::GetOrientation( Float4x4 &targetMem ) const
 {
-	return targetMem = this->current.GetOrientation();
+	return targetMem = this->rigid.GetOrientation();
 }
 
 Float4x4 & SimpleRigidBody::GetView( Float4x4 &targetMem ) const
 {
-	return targetMem = this->current.GetView();
+	return targetMem = this->rigid.GetView();
 }
 
 UpdateState SimpleRigidBody::Update( Float timeStepLength )
 {
-	this->previous = this->current; // memorizing the old state
+	this->rigid.Update_LeapFrog( timeStepLength );
-
-	this->current.Update_LeapFrog( timeStepLength );
 
 	// compare previous and new state and return result
-	return this->current == this->previous ? UpdateState_resting : UpdateState_altered;
+	//return this->current == this->previous ? UpdateState_resting : UpdateState_altered;
+	return UpdateState_altered;
 }
 
 void SimpleRigidBody::SetSubscription( ICustomBody::EventAction_Collision functionPointer )
@@ -115,40 +136,40 @@ void SimpleRigidBody::SetGravityNormal( const Float3 &normalizedVector )
 
 void SimpleRigidBody::SetMomentOfInertiaTensor_KeepVelocity( const Float4x4 &localI )
 {
-	this->current.SetMomentOfInertia_KeepVelocity( localI );
+	this->rigid.SetMomentOfInertia_KeepVelocity( localI );
 }
 
 void SimpleRigidBody::SetMomentOfInertiaTensor_KeepMomentum( const Float4x4 &localI )
 {
-	this->current.SetMomentOfInertia_KeepMomentum( localI );
+	this->rigid.SetMomentOfInertia_KeepMomentum( localI );
 }
 
 void SimpleRigidBody::SetMass_KeepVelocity( Float m )
 {
-	this->current.SetMass_KeepVelocity( m );
+	this->rigid.SetMass_KeepVelocity( m );
 }
 
 void SimpleRigidBody::SetMass_KeepMomentum( Float m )
 {
-	this->current.SetMass_KeepMomentum( m );
+	this->rigid.SetMass_KeepMomentum( m );
 }
 
 void SimpleRigidBody::SetCenter( const Float3 &worldPos )
 {
-	this->current.SetCenter( worldPos );
+	this->rigid.SetCenter( worldPos );
 }
 
 void SimpleRigidBody::SetRotation( const Float4x4 &rotation )
 {
-	this->current.SetRotation( rotation );
+	this->rigid.SetRotation( rotation );
 }
 
 void SimpleRigidBody::SetOrientation( const Float4x4 &orientation )
 {
-	this->current.SetOrientation( orientation );
+	this->rigid.SetOrientation( orientation );
 }
 
 void SimpleRigidBody::SetSize( const Float3 &size )
 {
-	this->current.SetSize( size );
+	this->rigid.SetSize( size );
 }

Code/GamePhysics/Implementation/SimpleRigidBody.h

@@ -10,6 +10,7 @@ namespace Oyster { namespace Physics
 	{
 	public:
 		SimpleRigidBody();
+		SimpleRigidBody( const API::SimpleBodyDescription &desc );
 		virtual ~SimpleRigidBody();
 
 		::Utility::DynamicMemory::UniquePointer<ICustomBody> Clone() const;
@@ -41,7 +42,7 @@ namespace Oyster { namespace Physics
 		void SetSize( const ::Oyster::Math::Float3 &size );
 
 	private:
-		::Oyster::Physics3D::RigidBody previous, current;
+		::Oyster::Physics3D::RigidBody rigid;
 		::Oyster::Math::Float3 gravityNormal;
 		EventAction_Collision collisionAction;
 		bool ignoreGravity;

Code/GamePhysics/Implementation/SphericalRigidBody.cpp

@@ -2,6 +2,7 @@
 #include "PhysicsAPI_Impl.h"
 
 using namespace ::Oyster::Physics;
+using namespace ::Oyster::Physics3D;
 using namespace ::Oyster::Math3D;
 using namespace ::Oyster::Collision3D;
 using namespace ::Utility::DynamicMemory;

Code/GamePhysics/PhysicsAPI.h

@@ -45,6 +45,9 @@ namespace Oyster
 		class PHYSICS_DLL_USAGE API
 		{
 		public:
+			struct SimpleBodyDescription;
+			struct SphericalBodyDescription;
+
 			typedef void (*EventAction_Destruction)( ::Utility::DynamicMemory::UniquePointer<ICustomBody> proto );
 
 			/** Gets the Physics instance. */
@@ -207,9 +210,17 @@ namespace Oyster
 
 			/********************************************************
 			 * Creates a new dynamically allocated object that can be used as a component for more complex ICustomBodies.
+			 * @param desc: @see API::SimpleBodyDescription
 			 * @return A pointer along with the responsibility to delete.
 			 ********************************************************/
-			virtual ::Utility::DynamicMemory::UniquePointer<ICustomBody> CreateSimpleRigidBody() const = 0;
+			virtual ::Utility::DynamicMemory::UniquePointer<ICustomBody> CreateRigidBody( const SimpleBodyDescription &desc ) const = 0;
+
+			/********************************************************
+			 * Creates a new dynamically allocated object that can be used as a component for more complex ICustomBodies.
+			 * @param desc: @see API::SphericalBodyDescription
+			 * @return A pointer along with the responsibility to delete.
+			 ********************************************************/
+			virtual ::Utility::DynamicMemory::UniquePointer<ICustomBody> CreateRigidBody( const SphericalBodyDescription &desc ) const = 0;
 
 		protected:
 			virtual ~API() {}
@@ -375,6 +386,50 @@ namespace Oyster
 			 ********************************************************/
 			virtual void SetSize( const ::Oyster::Math::Float3 &size ) = 0;
 		};
+
+		struct API::SimpleBodyDescription
+		{
+			::Oyster::Math::Float4x4 rotation;
+			::Oyster::Math::Float3 centerPosition;
+			::Oyster::Math::Float3 size;
+			::Oyster::Math::Float mass;
+			::Oyster::Math::Float4x4 inertiaTensor;
+			ICustomBody::EventAction_Collision subscription;
+			bool ignoreGravity;
+
+			SimpleBodyDescription()
+			{
+				this->rotation = ::Oyster::Math::Float4x4::identity;
+				this->centerPosition = ::Oyster::Math::Float3::null;
+				this->size = ::Oyster::Math::Float3( 1.0f );
+				this->mass = 12.0f;
+				this->inertiaTensor = ::Oyster::Math::Float4x4::identity;
+				this->subscription = NULL;
+				this->ignoreGravity = false;
+			}
+		};
+
+		struct API::SphericalBodyDescription
+		{
+			::Oyster::Math::Float4x4 rotation;
+			::Oyster::Math::Float3 centerPosition;
+			::Oyster::Math::Float radius;
+			::Oyster::Math::Float mass;
+			::Oyster::Math::Float4x4 inertiaTensor;
+			ICustomBody::EventAction_Collision subscription;
+			bool ignoreGravity;
+
+			SphericalBodyDescription()
+			{
+				this->rotation = ::Oyster::Math::Float4x4::identity;
+				this->centerPosition = ::Oyster::Math::Float3::null;
+				this->radius = 0.5f;
+				this->mass = 10.0f;
+				this->inertiaTensor = ::Oyster::Math::Float4x4::identity;
+				this->subscription = NULL;
+				this->ignoreGravity = false;
+			}
+		};
 	}
 }
 #endif

Code/OysterPhysics3D/RigidBody.cpp

@@ -9,9 +9,14 @@ using namespace ::Oyster::Collision3D;
 using namespace ::Oyster::Physics3D;
 using namespace ::Oyster::Math3D;
 
-RigidBody::RigidBody( const Box &b, Float m )
+RigidBody::RigidBody( const Box &b, Float m, const Float4x4 &inertiaTensor )
-	: box(b), angularMomentum(0.0f), linearMomentum(0.0f), impulseTorqueSum(0.0f), impulseForceSum(0.0f)
 { // by Dan Andersson
+	this->box = b;
+	this->angularMomentum = Float3::null;
+	this->linearMomentum = Float3::null;
+	this->impulseTorqueSum = Float3::null;
+	this->impulseForceSum = Float3::null;
+
 	if( m != 0.0f )
 	{
 		this->mass = m;
@@ -21,8 +26,15 @@ RigidBody::RigidBody( const Box &b, Float m )
 		this->mass = ::Utility::Value::numeric_limits<Float>::epsilon();
 	}
 
+	if( inertiaTensor.GetDeterminant() != 0.0f )
+	{
+		this->momentOfInertiaTensor = inertiaTensor;
+	}
+	else
+	{
 		this->momentOfInertiaTensor = Float4x4::identity;
 	}
+}
 
 RigidBody & RigidBody::operator = ( const RigidBody &body )
 { // by Dan Andersson

Code/OysterPhysics3D/RigidBody.h

@@ -20,7 +20,9 @@ namespace Oyster { namespace Physics3D
 							   impulseTorqueSum,	/** The impulse torque T (Nm) that will be consumed each update.	(worldValue) */
 							   impulseForceSum;		/** The impulse force F (N) that will be consumed each update.		(worldValue) */
 
-		RigidBody( const ::Oyster::Collision3D::Box &box = ::Oyster::Collision3D::Box(), ::Oyster::Math::Float mass = 1.0f );
+		RigidBody( const ::Oyster::Collision3D::Box &box = ::Oyster::Collision3D::Box(),
+				   ::Oyster::Math::Float mass = 12.0f,
+				   const ::Oyster::Math::Float4x4 &inertiaTensor = ::Oyster::Math::Float4x4::identity );
 
 		RigidBody & operator = ( const RigidBody &body );