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This commit is contained in:
Robin Engman 2014-02-07 11:43:18 +01:00
parent f372d3e05b
commit b225c53611
7 changed files with 34 additions and 49 deletions
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2
Code/Game/DanBiasGame/GameClientState/LobbyState.cpp
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@ -55,7 +55,7 @@ bool LobbyState::LoadModels(std::wstring file)
modelData.world = Oyster::Math3D::Float4x4::identity;
modelData.visible = true;
modelData.modelPath = L"..\\Content\\Models\\box_2.dan";
modelData.modelPath = L"crate_colonists.dan";
// load models
privData->object[0] = new C_StaticObj();
privData->object[0]->Init(modelData);

6
Code/Game/GameLogic/Level.cpp
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@ -72,11 +72,11 @@ void Level::InitiateLevel(float radius)
//this->dynamicObjects = new DynamicArray< DynamicObject>;
// add box
API::SimpleBodyDescription sbDesc_TestBox;
sbDesc_TestBox.centerPosition = Oyster::Math::Float4(10,320,0,0);
sbDesc_TestBox.centerPosition = Oyster::Math::Float4(10,320,0,1);
sbDesc_TestBox.ignoreGravity = false;
sbDesc_TestBox.mass = 20;
sbDesc_TestBox.size = Oyster::Math::Float4(2,2,2,0);
sbDesc_TestBox.size = Oyster::Math::Float4(1,1,1,0);
ICustomBody* rigidBody_TestBox;
@ -132,7 +132,7 @@ void Level::InitiateLevel(float radius)
sbDesc_Crystal.centerPosition = Oyster::Math::Float4(10, 305, 0, 1);
sbDesc_Crystal.ignoreGravity = false;
sbDesc_Crystal.mass = 80;
sbDesc_Crystal.size = Oyster::Math::Float3(2,3,2);
sbDesc_Crystal.size = Oyster::Math::Float3(1,2,1);
ICustomBody* rigidBody_Crystal = API::Instance().CreateRigidBody(sbDesc_Crystal).Release();
rigidBody_Crystal->SetSubscription(Level::PhysicsOnMoveLevel);

16
Code/Game/GameLogic/Object.cpp
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@ -158,10 +158,10 @@ void Object::EndFrame()
}
if(currPhysicsState.GetGravityNormal()!= Float3::null)
//if(currPhysicsState.GetGravityNormal()!= Float3::null)
{
Oyster::Math::Float4 axis;
Oyster::Math3D::SnapAngularAxis(Oyster::Math::Float4(currPhysicsState.GetAngularAxis(), 0), Oyster::Math::Float4::standard_unit_y, -Oyster::Math::Float4(currPhysicsState.GetGravityNormal()), axis);
Oyster::Math3D::SnapAngularAxis(Oyster::Math::Float4(currPhysicsState.GetAngularAxis(), 0), Oyster::Math::Float4::standard_unit_y, Oyster::Math::Float4(currPhysicsState.GetCenterPosition().GetNormalized(), 0), axis);
if(axis !=axis)
{
//error
@ -170,17 +170,17 @@ void Object::EndFrame()
axis.Normalize();
currPhysicsState.SetRotation(axis.xyz);
currPhysicsState.SetAngularMomentum(Float3::null);
Oyster::Math::Float3 debug = ::LinearAlgebra3D::WorldAxisOf(::LinearAlgebra3D::Rotation(axis.xyz), Oyster::Math::Float3::standard_unit_y);
debug += currPhysicsState.GetGravityNormal();
//Oyster::Math::Float3 debug = ::LinearAlgebra3D::WorldAxisOf(::LinearAlgebra3D::Rotation(axis.xyz), Oyster::Math::Float3::standard_unit_y);
//debug += currPhysicsState.GetGravityNormal();
}
Oyster::Math::Float3 pos = currPhysicsState.GetCenterPosition();
Oyster::Math::Float3 up = -currPhysicsState.GetGravityNormal();
//Oyster::Math::Float3 pos = currPhysicsState.GetCenterPosition();
//Oyster::Math::Float3 up = -currPhysicsState.GetGravityNormal();
//300, 0,0,
//1,0,0
/*if( pos.GetLength() < 303.5f)
/*if( pos.GetLength() < 301.5f)
{
Oyster::Math::Float moveUp = 303.5 - pos.GetLength();
Oyster::Math::Float moveUp = 301.5 - pos.GetLength();
up *= moveUp;
currPhysicsState.SetCenterPosition(pos + up);

41
Code/GamePhysics/Implementation/PhysicsAPI_Impl.cpp
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@ -178,9 +178,7 @@ namespace
ICustomBody::State protoState; proto->GetState( protoState );
ICustomBody::State deuterState; deuter->GetState( deuterState );
// calc from perspective of deuter.
// calc from perspective of deuter.
Float4 normal = (worldPointOfContact - Float4(deuterState.GetCenterPosition(), 1.0f )).GetNormalized(); // Init value is only borrowed
Float4 normal = (worldPointOfContact - Float4(deuterState.GetCenterPosition(), 1.0f )); // Init value is only borrowed
if( normal.Dot(normal) > 0.0f )
{
deuter->GetNormalAt( worldPointOfContact, normal );
@ -208,7 +206,7 @@ namespace
Float protoG_Magnitude = protoG.Dot( normal ),
deuterG_Magnitude = deuterG.Dot( normal );
if(protoState.GetMass() == 70)
if(protoState.GetMass() == 20)
{
const char *breakpoint = "STOP";
}
@ -234,7 +232,11 @@ namespace
return;
}
// calc from perspective of proto
// bounce
Float4 bounceD = normal * -Formula::CollisionResponse::Bounce( deuterState.GetRestitutionCoeff(),
deuterState.GetMass(), deuterG_Magnitude,
protoState.GetMass(), protoG_Magnitude );
normal = (worldPointOfContact - Float4(protoState.GetCenterPosition(), 1.0f )).GetNormalized();
if( normal.Dot(normal) > 0.0f )
{
@ -260,10 +262,7 @@ namespace
Float4(protoState.GetLinearMomentum(), 0), protoState.GetFrictionCoeff_Static(), protoState.GetFrictionCoeff_Kinetic(), protoState.GetMass(),
Float4(deuterState.GetLinearMomentum(), 0), deuterState.GetFrictionCoeff_Static(), deuterState.GetFrictionCoeff_Kinetic(), deuterState.GetMass());
if(protoState.GetMass() == 70)
{
const char *breakpoint = "STOP";
}
protoState.ApplyFriction( -friction.xyz );
@ -279,21 +278,7 @@ namespace
}
if(protoState.GetMass() == 50)
{
const char* breakPoint = "Break";
}
// bounce
Float4 bounceD = normal * -Formula::CollisionResponse::Bounce( deuterState.GetRestitutionCoeff(),
deuterState.GetMass(), deuterG_Magnitude,
protoState.GetMass(), protoG_Magnitude );
// calc from perspective of proto
proto->GetNormalAt( worldPointOfContact, normal );
normal.Normalize();
protoG_Magnitude = protoG.Dot( normal );
deuterG_Magnitude = deuterG.Dot( normal );
// bounce
Float4 bounceP = normal * Formula::CollisionResponse::Bounce( protoState.GetRestitutionCoeff(),
@ -411,7 +396,7 @@ void API_Impl::Update()
{
const char *breakpoint = "STOP";
}
Float force = Physics3D::Formula::ForceField( this->gravityConstant, state.GetMass(), this->gravity[i].well.mass, rSquared );
Float force = 9.82*10;
gravityImpulse += ((this->updateFrameLength * force)) * d.GetNormalized();
}
break;
@ -430,7 +415,7 @@ void API_Impl::Update()
if( gravityImpulse != gravityImpulse ) // debug: trap
const char *breakpoint = "This should never happen";
Float posLength = state.GetCenterPosition().GetLength();
if( gravityImpulse != Float4::null && posLength - 300 > 3.5 )
if( gravityImpulse != Float4::null && posLength - 300 > state.GetReach().y )
{
state.ApplyLinearImpulse( gravityImpulse.xyz );
state.SetGravityNormal( gravityImpulse.GetNormalized().xyz );
@ -453,7 +438,7 @@ void API_Impl::Update()
//LinearAlgebra3D::InterpolateAxisYToNormal_UsingNlerp(state.SetOrientation(, Float4(state.GetGravityNormal(), 0.0f), 1.0f);
/*if( abs(lM.x) < this->epsilon )
if( abs(lM.x) < this->epsilon )
{
state.linearMomentum.x = 0;
}
@ -464,7 +449,7 @@ void API_Impl::Update()
if( abs(lM.z) < this->epsilon )
{
state.linearMomentum.z = 0;
}*/
}
(*proto)->SetState( state );

6
Code/GamePhysics/Implementation/SimpleRigidBody.cpp
View File

@ -335,17 +335,17 @@ UpdateState SimpleRigidBody::Update( Float timeStepLength )
timeStepLength *= 2.0f - this->collisionRebound.timeOfContact; // compensate for rebounded time
this->collisionRebound.timeOfContact = 1.0f;
}
// Maintain rotation resolution by keeping axis within [0, 2pi] (trigonometric methods gets faster too)
Float4 temp;
::std::modf( this->rigid.axis * (0.5f / pi), temp.xyz );
this->rigid.axis -= ((2.0f * pi) * temp).xyz;
// Update rebound data
this->collisionRebound.previousSpatial.center = this->rigid.centerPos;
this->collisionRebound.previousSpatial.axis = this->rigid.axis;
this->collisionRebound.previousSpatial.reach = this->rigid.boundingReach;
// Check if this is close enough to be set resting
temp = Float4( this->rigid.impulse_Linear, 0.0f ) + Float4( this->rigid.impulse_Angular, 0.0f );
if( temp.Dot(temp) <= (Constant::epsilon * Constant::epsilon) )

6
Code/GamePhysics/Implementation/SphericalRigidBody.cpp
View File

@ -257,17 +257,17 @@ UpdateState SphericalRigidBody::Update( Float timeStepLength )
timeStepLength *= 2.0f - this->collisionRebound.timeOfContact; // compensate for rebounded time
this->collisionRebound.timeOfContact = 1.0f;
}
// Maintain rotation resolution by keeping axis within [0, 2pi] (trigonometric methods gets faster too)
Float4 temp;
::std::modf( this->rigid.axis * (0.5f / pi), temp.xyz );
this->rigid.axis -= ((2.0f * pi) * temp).xyz;
// Update rebound data
this->collisionRebound.previousSpatial.center = this->rigid.centerPos;
this->collisionRebound.previousSpatial.axis = this->rigid.axis;
this->collisionRebound.previousSpatial.reach = this->rigid.boundingReach;
// Check if this is close enough to be set resting
temp = Float4( this->rigid.impulse_Linear, 0.0f ) + Float4( this->rigid.impulse_Angular, 0.0f );
if( temp.Dot(temp) <= (Constant::epsilon * Constant::epsilon) )

6
Code/OysterPhysics3D/RigidBody.cpp
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@ -66,14 +66,14 @@ void RigidBody::Update_LeapFrog( Float updateFrameLength )
// updating the angular
// dO = dt * Formula::AngularVelocity( (RI)^-1, avg_H ) = dt * (RI)^-1 * avg_H
this->axis += updateFrameLength * this->momentOfInertiaTensor.CalculateAngularVelocity( this->rotation, AverageWithDelta(this->momentum_Angular, this->impulse_Angular) );
this->rotation = Rotation( this->axis );
//this->axis += updateFrameLength * this->momentOfInertiaTensor.CalculateAngularVelocity( this->rotation, AverageWithDelta(this->momentum_Angular, this->impulse_Angular) );
//this->rotation = Rotation( this->axis );
// update momentums and clear impulse_Linear and impulse_Angular
this->momentum_Linear += this->impulse_Linear;
this->impulse_Linear = Float4::null;
this->momentum_Angular += this->impulse_Angular; //! HACK: @todo Rotation temporary disabled
//this->momentum_Angular += this->impulse_Angular; //! HACK: @todo Rotation temporary disabled
this->impulse_Angular = Float4::null;
}