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Extended friction content of the ICustomBody::State struct

This commit is contained in:
Dander7BD 2013-12-19 10:03:56 +01:00
parent 56dec6cf5d
commit 9cee69edd6
6 changed files with 37 additions and 21 deletions
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12
Code/GamePhysics/Implementation/SimpleRigidBody.cpp
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@ -44,7 +44,8 @@ UniquePointer<ICustomBody> SimpleRigidBody::Clone() const
SimpleRigidBody::State SimpleRigidBody::GetState() const SimpleRigidBody::State SimpleRigidBody::GetState() const
{ {
return State( this->rigid.GetMass(), this->rigid.restitutionCoeff, this->rigid.frictionCoeff, return State( this->rigid.GetMass(), this->rigid.restitutionCoeff,
this->rigid.frictionCoeff_Static, this->rigid.frictionCoeff_Kinetic,
this->rigid.GetMomentOfInertia(), this->rigid.box.boundingOffset, this->rigid.GetMomentOfInertia(), this->rigid.box.boundingOffset,
this->rigid.box.center, AngularAxis(this->rigid.box.rotation), this->rigid.box.center, AngularAxis(this->rigid.box.rotation),
Float4(this->rigid.linearMomentum, 0.0f), Float4(this->rigid.angularMomentum, 0.0f) ); Float4(this->rigid.linearMomentum, 0.0f), Float4(this->rigid.angularMomentum, 0.0f) );
@ -52,10 +53,11 @@ SimpleRigidBody::State SimpleRigidBody::GetState() const
SimpleRigidBody::State & SimpleRigidBody::GetState( SimpleRigidBody::State &targetMem ) const SimpleRigidBody::State & SimpleRigidBody::GetState( SimpleRigidBody::State &targetMem ) const
{ {
return targetMem = State( this->rigid.GetMass(), this->rigid.restitutionCoeff, this->rigid.frictionCoeff, return targetMem = State( this->rigid.GetMass(), this->rigid.restitutionCoeff,
this->rigid.GetMomentOfInertia(), this->rigid.box.boundingOffset, this->rigid.frictionCoeff_Static, this->rigid.frictionCoeff_Kinetic,
this->rigid.box.center, AngularAxis(this->rigid.box.rotation), this->rigid.GetMomentOfInertia(), this->rigid.box.boundingOffset,
Float4(this->rigid.linearMomentum, 0.0f), Float4(this->rigid.angularMomentum, 0.0f) ); this->rigid.box.center, AngularAxis(this->rigid.box.rotation),
Float4(this->rigid.linearMomentum, 0.0f), Float4(this->rigid.angularMomentum, 0.0f) );
} }
void SimpleRigidBody::SetState( const SimpleRigidBody::State &state ) void SimpleRigidBody::SetState( const SimpleRigidBody::State &state )

6
Code/GamePhysics/Implementation/SphericalRigidBody.cpp
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@ -46,7 +46,8 @@ UniquePointer<ICustomBody> SphericalRigidBody::Clone() const
SphericalRigidBody::State SphericalRigidBody::GetState() const SphericalRigidBody::State SphericalRigidBody::GetState() const
{ {
return State( this->rigid.GetMass(), this->rigid.restitutionCoeff, this->rigid.frictionCoeff, return State( this->rigid.GetMass(), this->rigid.restitutionCoeff,
this->rigid.frictionCoeff_Static, this->rigid.frictionCoeff_Kinetic,
this->rigid.GetMomentOfInertia(), this->rigid.box.boundingOffset, this->rigid.GetMomentOfInertia(), this->rigid.box.boundingOffset,
this->rigid.box.center, AngularAxis(this->rigid.box.rotation), this->rigid.box.center, AngularAxis(this->rigid.box.rotation),
Float4(this->rigid.linearMomentum, 0.0f), Float4(this->rigid.angularMomentum, 0.0f) ); Float4(this->rigid.linearMomentum, 0.0f), Float4(this->rigid.angularMomentum, 0.0f) );
@ -54,7 +55,8 @@ SphericalRigidBody::State SphericalRigidBody::GetState() const
SphericalRigidBody::State & SphericalRigidBody::GetState( SphericalRigidBody::State &targetMem ) const SphericalRigidBody::State & SphericalRigidBody::GetState( SphericalRigidBody::State &targetMem ) const
{ {
return targetMem = State( this->rigid.GetMass(), this->rigid.restitutionCoeff, this->rigid.frictionCoeff, return targetMem = State( this->rigid.GetMass(), this->rigid.restitutionCoeff,
this->rigid.frictionCoeff_Static, this->rigid.frictionCoeff_Kinetic,
this->rigid.GetMomentOfInertia(), this->rigid.box.boundingOffset, this->rigid.GetMomentOfInertia(), this->rigid.box.boundingOffset,
this->rigid.box.center, AngularAxis(this->rigid.box.rotation), this->rigid.box.center, AngularAxis(this->rigid.box.rotation),
Float4(this->rigid.linearMomentum, 0.0f), Float4(this->rigid.angularMomentum, 0.0f) ); Float4(this->rigid.linearMomentum, 0.0f), Float4(this->rigid.angularMomentum, 0.0f) );

22
Code/GamePhysics/PhysicsStructs-Impl.h
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@ -28,11 +28,12 @@ namespace Oyster { namespace Physics
this->ignoreGravity = false; this->ignoreGravity = false;
} }
inline CustomBodyState::CustomBodyState( ::Oyster::Math::Float mass, ::Oyster::Math::Float restitutionCoeff, ::Oyster::Math::Float frictionCoeff, const ::Oyster::Math::Float4x4 &inertiaTensor, const ::Oyster::Math::Float4 &reach, const ::Oyster::Math::Float4 &centerPos, const ::Oyster::Math::Float4 &rotation, const ::Oyster::Math::Float4 &linearMomentum, const ::Oyster::Math::Float4 &angularMomentum ) inline CustomBodyState::CustomBodyState( ::Oyster::Math::Float mass, ::Oyster::Math::Float restitutionCoeff, ::Oyster::Math::Float staticFrictionCoeff, ::Oyster::Math::Float kineticFrictionCoeff, const ::Oyster::Math::Float4x4 &inertiaTensor, const ::Oyster::Math::Float4 &reach, const ::Oyster::Math::Float4 &centerPos, const ::Oyster::Math::Float4 &rotation, const ::Oyster::Math::Float4 &linearMomentum, const ::Oyster::Math::Float4 &angularMomentum )
{ {
this->mass = mass; this->mass = mass;
this->restitutionCoeff = restitutionCoeff; this->restitutionCoeff = restitutionCoeff;
this->frictionCoeff = frictionCoeff; this->staticFrictionCoeff = staticFrictionCoeff;
this->kineticFrictionCoeff = kineticFrictionCoeff;
this->inertiaTensor = inertiaTensor; this->inertiaTensor = inertiaTensor;
this->reach = ::Oyster::Math::Float4( reach.xyz, 0.0f ); this->reach = ::Oyster::Math::Float4( reach.xyz, 0.0f );
this->centerPos = ::Oyster::Math::Float4( centerPos.xyz, 1.0f ); this->centerPos = ::Oyster::Math::Float4( centerPos.xyz, 1.0f );
@ -47,7 +48,8 @@ namespace Oyster { namespace Physics
{ {
this->mass = state.mass; this->mass = state.mass;
this->restitutionCoeff = state.restitutionCoeff; this->restitutionCoeff = state.restitutionCoeff;
this->frictionCoeff = state.frictionCoeff; this->staticFrictionCoeff = state.staticFrictionCoeff;
this->kineticFrictionCoeff = state.kineticFrictionCoeff;
this->inertiaTensor = state.inertiaTensor; this->inertiaTensor = state.inertiaTensor;
this->reach = state.reach; this->reach = state.reach;
this->centerPos = state.centerPos; this->centerPos = state.centerPos;
@ -71,9 +73,14 @@ namespace Oyster { namespace Physics
return this->restitutionCoeff; return this->restitutionCoeff;
} }
inline const ::Oyster::Math::Float CustomBodyState::GetFrictionCoeff() const inline const ::Oyster::Math::Float CustomBodyState::GetFrictionCoeff_Static() const
{ {
return this->frictionCoeff; return this->staticFrictionCoeff;
}
inline const ::Oyster::Math::Float CustomBodyState::GetFrictionCoeff_Kinetic() const
{
return this->kineticFrictionCoeff;
} }
inline const ::Oyster::Math::Float4x4 & CustomBodyState::GetMomentOfInertia() const inline const ::Oyster::Math::Float4x4 & CustomBodyState::GetMomentOfInertia() const
@ -163,9 +170,10 @@ namespace Oyster { namespace Physics
this->restitutionCoeff = e; this->restitutionCoeff = e;
} }
inline void CustomBodyState::SetFrictionCoeff( ::Oyster::Math::Float u ) inline void CustomBodyState::SetFrictionCoeff( ::Oyster::Math::Float staticU, ::Oyster::Math::Float kineticU )
{ {
this->frictionCoeff = u; this->staticFrictionCoeff = staticU;
this->kineticFrictionCoeff = kineticU;
} }
inline void CustomBodyState::SetMomentOfInertia_KeepMomentum( const ::Oyster::Math::Float4x4 &tensor ) inline void CustomBodyState::SetMomentOfInertia_KeepMomentum( const ::Oyster::Math::Float4x4 &tensor )

10
Code/GamePhysics/PhysicsStructs.h
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@ -38,7 +38,8 @@ namespace Oyster { namespace Physics
public: public:
CustomBodyState( ::Oyster::Math::Float mass = 1.0f, CustomBodyState( ::Oyster::Math::Float mass = 1.0f,
::Oyster::Math::Float restitutionCoeff = 1.0f, ::Oyster::Math::Float restitutionCoeff = 1.0f,
::Oyster::Math::Float frictionCoeff = 1.0f, ::Oyster::Math::Float staticFrictionCoeff = 1.0f,
::Oyster::Math::Float kineticFrictionCoeff = 1.0f,
const ::Oyster::Math::Float4x4 &inertiaTensor = ::Oyster::Math::Float4x4::identity, const ::Oyster::Math::Float4x4 &inertiaTensor = ::Oyster::Math::Float4x4::identity,
const ::Oyster::Math::Float4 &reach = ::Oyster::Math::Float4::null, const ::Oyster::Math::Float4 &reach = ::Oyster::Math::Float4::null,
const ::Oyster::Math::Float4 &centerPos = ::Oyster::Math::Float4::standard_unit_w, const ::Oyster::Math::Float4 &centerPos = ::Oyster::Math::Float4::standard_unit_w,
@ -50,7 +51,8 @@ namespace Oyster { namespace Physics
const ::Oyster::Math::Float GetMass() const; const ::Oyster::Math::Float GetMass() const;
const ::Oyster::Math::Float GetRestitutionCoeff() const; const ::Oyster::Math::Float GetRestitutionCoeff() const;
const ::Oyster::Math::Float GetFrictionCoeff() const; const ::Oyster::Math::Float GetFrictionCoeff_Static() const;
const ::Oyster::Math::Float GetFrictionCoeff_Kinetic() const;
const ::Oyster::Math::Float4x4 & GetMomentOfInertia() const; const ::Oyster::Math::Float4x4 & GetMomentOfInertia() const;
const ::Oyster::Math::Float4 & GetReach() const; const ::Oyster::Math::Float4 & GetReach() const;
::Oyster::Math::Float4 GetSize() const; ::Oyster::Math::Float4 GetSize() const;
@ -68,7 +70,7 @@ namespace Oyster { namespace Physics
void SetMass_KeepMomentum( ::Oyster::Math::Float m ); void SetMass_KeepMomentum( ::Oyster::Math::Float m );
void SetMass_KeepVelocity( ::Oyster::Math::Float m ); void SetMass_KeepVelocity( ::Oyster::Math::Float m );
void SetRestitutionCoeff( ::Oyster::Math::Float e ); void SetRestitutionCoeff( ::Oyster::Math::Float e );
void SetFrictionCoeff( ::Oyster::Math::Float u ); void SetFrictionCoeff( ::Oyster::Math::Float staticU, ::Oyster::Math::Float kineticU );
void SetMomentOfInertia_KeepMomentum( const ::Oyster::Math::Float4x4 &tensor ); void SetMomentOfInertia_KeepMomentum( const ::Oyster::Math::Float4x4 &tensor );
void SetMomentOfInertia_KeepVelocity( const ::Oyster::Math::Float4x4 &tensor ); void SetMomentOfInertia_KeepVelocity( const ::Oyster::Math::Float4x4 &tensor );
void SetSize( const ::Oyster::Math::Float4 &size ); void SetSize( const ::Oyster::Math::Float4 &size );
@ -93,7 +95,7 @@ namespace Oyster { namespace Physics
bool IsDisturbed() const; bool IsDisturbed() const;
private: private:
::Oyster::Math::Float mass, restitutionCoeff, frictionCoeff; ::Oyster::Math::Float mass, restitutionCoeff, staticFrictionCoeff, kineticFrictionCoeff;
::Oyster::Math::Float4x4 inertiaTensor; ::Oyster::Math::Float4x4 inertiaTensor;
::Oyster::Math::Float4 reach, centerPos, angularAxis; ::Oyster::Math::Float4 reach, centerPos, angularAxis;
::Oyster::Math::Float4 linearMomentum, angularMomentum; ::Oyster::Math::Float4 linearMomentum, angularMomentum;

6
Code/OysterPhysics3D/RigidBody.cpp
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@ -17,7 +17,8 @@ RigidBody::RigidBody( const Box &b, Float m, const Float4x4 &inertiaTensor )
this->impulseTorqueSum = Float3::null; this->impulseTorqueSum = Float3::null;
this->impulseForceSum = Float3::null; this->impulseForceSum = Float3::null;
this->restitutionCoeff = 1.0f; this->restitutionCoeff = 1.0f;
this->frictionCoeff = 1.0f; this->frictionCoeff_Static = 1.0f;
this->frictionCoeff_Kinetic = 1.0f;
if( m != 0.0f ) if( m != 0.0f )
{ {
@ -46,7 +47,8 @@ RigidBody & RigidBody::operator = ( const RigidBody &body )
this->impulseTorqueSum = body.impulseTorqueSum; this->impulseTorqueSum = body.impulseTorqueSum;
this->impulseForceSum = body.impulseForceSum; this->impulseForceSum = body.impulseForceSum;
this->restitutionCoeff = body.restitutionCoeff; this->restitutionCoeff = body.restitutionCoeff;
this->frictionCoeff = body.frictionCoeff; this->frictionCoeff_Static = body.frictionCoeff_Static;
this->frictionCoeff_Kinetic = body.frictionCoeff_Kinetic;
this->mass = body.mass; this->mass = body.mass;
this->momentOfInertiaTensor = body.momentOfInertiaTensor; this->momentOfInertiaTensor = body.momentOfInertiaTensor;
return *this; return *this;

2
Code/OysterPhysics3D/RigidBody.h
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@ -19,7 +19,7 @@ namespace Oyster { namespace Physics3D
linearMomentum, /** The linear momentum G (kg*m/s). (worldValue) */ linearMomentum, /** The linear momentum G (kg*m/s). (worldValue) */
impulseTorqueSum, /** The impulse torque T (Nm) that will be consumed each update. (worldValue) */ 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) */ impulseForceSum; /** The impulse force F (N) that will be consumed each update. (worldValue) */
::Oyster::Math::Float restitutionCoeff, frictionCoeff; ::Oyster::Math::Float restitutionCoeff, frictionCoeff_Static, frictionCoeff_Kinetic;
RigidBody( const ::Oyster::Collision3D::Box &box = ::Oyster::Collision3D::Box(), RigidBody( const ::Oyster::Collision3D::Box &box = ::Oyster::Collision3D::Box(),
::Oyster::Math::Float mass = 12.0f, ::Oyster::Math::Float mass = 12.0f,