GL - merge with new physics movement
This commit is contained in:
lindaandersson
commit
bab3af787c
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@ -17,7 +17,7 @@ Game::PlayerData::PlayerData()
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//sbDesc.quaternion = Oyster::Math::Float3(0, Oyster::Math::pi, 0);
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//create rigid body
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Oyster::Physics::ICustomBody* rigidBody = Oyster::Physics::API::Instance().AddCollisionBox(size, Oyster::Math::Float4(0, 0, 0, 1), centerPosition, mass, 0.5f, 0.8f, 0.6f );
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Oyster::Physics::ICustomBody* rigidBody = Oyster::Physics::API::Instance().AddCharacter(2.0f, 0.5f, Oyster::Math::Float4(0, 0, 0, 1), centerPosition, mass, 0.5f, 0.8f, 0.6f );
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rigidBody->SetAngularFactor(0.0f);
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//create player with this rigid body
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this->player = new Player(rigidBody, Player::PlayerCollision, ObjectSpecialType_Player,0,0);
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@ -57,7 +57,11 @@ Object* Level::createGameObj(ObjectHeader* obj, ICustomBody* rigidBody)
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break;
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case ObjectSpecialType_StandardBox:
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{
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gameObj = new DynamicObject(rigidBody, Object::DefaultCollisionAfter, (ObjectSpecialType)obj->specialTypeID, objID++);
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int dmg = 50;
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Oyster::Math::Float force = 50;
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int radie = 10;
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gameObj = new ExplosiveCrate(rigidBody, (ObjectSpecialType)obj->specialTypeID, objID++, dmg, force, radie);
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//gameObj = new DynamicObject(rigidBody, Object::DefaultCollisionAfter, (ObjectSpecialType)obj->specialTypeID, objID++);
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}
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break;
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case ObjectSpecialType_RedExplosiveBox:
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@ -96,7 +100,7 @@ Object* Level::createGameObj(ObjectHeader* obj, ICustomBody* rigidBody)
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break;
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case ObjectSpecialType_JumpPad:
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{
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float power = ((JumpPadAttributes*)obj)->power;
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float power = 500; //((JumpPadAttributes*)obj)->power;
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Oyster::Math::Float3 dir = ((JumpPadAttributes*)obj)->direction;
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Oyster::Math::Float3 pushForce = dir * power;
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gameObj = new JumpPad(rigidBody, (ObjectSpecialType)obj->specialTypeID, objID++ , pushForce);
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@ -354,9 +358,9 @@ void Level::InitiateLevel(float radius)
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this->staticObjects.Push(new StaticObject(rigidBody_House, Object::DefaultCollisionAfter, ObjectSpecialType_Generic, idCount++));
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// add jumppad
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ICustomBody* rigidBody_Jumppad = API::Instance().AddCollisionBox(Oyster::Math::Float3(1, 1, 1), Oyster::Math::Float4(0, 0, 0, 1), Oyster::Math::Float3(4, 600.3, 0), 5, 0.5f, 0.8f, 0.6f);
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this->staticObjects.Push(new JumpPad(rigidBody_Jumppad, ObjectSpecialType_JumpPad,idCount++ ,Oyster::Math::Float3(0,2000,0)));
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rigidBody_Jumppad->SetCustomTag(this->staticObjects[1]);
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}
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void Level::AddPlayerToTeam(Player *player, int teamID)
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@ -17,17 +17,36 @@ Player::Player()
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Player::Player(Oyster::Physics::ICustomBody *rigidBody, void (*EventOnCollision)(Oyster::Physics::ICustomBody *proto,Oyster::Physics::ICustomBody *deuter,Oyster::Math::Float kineticEnergyLoss), ObjectSpecialType type, int objectID, int teamID)
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:DynamicObject(rigidBody, EventOnCollision, type, objectID)
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{
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this->rigidBody = rigidBody;
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Oyster::Math::Float3 centerPosition = Oyster::Math::Float3(0,400,0);
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Oyster::Math::Float3 size = Oyster::Math::Float3(0.25f,1.0f,0.5f);
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Oyster::Math::Float mass = 60;
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Oyster::Math::Float restitutionCoeff = 0.5;
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Oyster::Math::Float frictionCoeff_Static = 0.4;
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Oyster::Math::Float frictionCoeff_Dynamic = 0.3;
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this->rigidBody = Oyster::Physics::API::Instance().AddCollisionBox(size, Oyster::Math::Float4(0, 0, 0, 1), centerPosition, mass, 0.5f, 0.8f, 0.6f );
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this->rigidBody->SetAngularFactor(0.0f);
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weapon = new Weapon(2,this);
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this->life = 100;
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this->teamID = -1;
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this->teamID = teamID;
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this->playerState = PLAYER_STATE_IDLE;
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this->lookDir = Oyster::Math::Float3(0,0,-1);
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this->moveDir = Oyster::Math::Float3(0,0,0);
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key_forward = 0;
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key_backward = 0;
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key_strafeRight = 0;
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key_strafeLeft = 0;
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this->previousPosition = Oyster::Math::Float3(0,0,0);
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this->moveDir = Oyster::Math::Float3(0,0,0);
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this->moveSpeed = 100;
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this->previousMoveSpeed = Oyster::Math::Float3(0,0,0);
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}
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Player::Player(Oyster::Physics::ICustomBody *rigidBody, Oyster::Physics::ICustomBody::SubscriptMessage (*EventOnCollision)(Oyster::Physics::ICustomBody *proto,Oyster::Physics::ICustomBody *deuter,Oyster::Math::Float kineticEnergyLoss), ObjectSpecialType type, int objectID, int teamID)
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@ -53,11 +72,16 @@ Player::Player(Oyster::Physics::ICustomBody *rigidBody, Oyster::Physics::ICustom
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this->teamID = teamID;
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this->playerState = PLAYER_STATE_IDLE;
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this->lookDir = Oyster::Math::Float3(0,0,-1);
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this->moveDir = Oyster::Math::Float3(0,0,0);
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key_forward = 0;
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key_backward = 0;
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key_strafeRight = 0;
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key_strafeLeft = 0;
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this->previousPosition = Oyster::Math::Float3(0,0,0);
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this->moveDir = Oyster::Math::Float3(0,0,0);
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this->moveSpeed = 100;
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this->previousMoveSpeed = Oyster::Math::Float3(0,0,0);
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}
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Player::~Player(void)
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@ -73,48 +97,79 @@ void Player::BeginFrame()
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{
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//weapon->Update(0.002f);
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Object::BeginFrame();
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Oyster::Math::Float3 forward(0,0,0);
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Oyster::Math::Float3 back(0,0,0);
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Oyster::Math::Float3 right(0,0,0);
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Oyster::Math::Float3 left(0,0,0);
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Oyster::Math::Float3 moveDirection(0,0,0);
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//Oyster::Math::Float3 previousFall = this->previousMoveSpeed*-this->rigidBody->GetState().centerPos.GetNormalized();
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//Oyster::Math::Float3 currentFall = this->rigidBody->GetLinearVelocity()*-this->rigidBody->GetState().centerPos.GetNormalized();
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if(this->moveDir != Oyster::Math::Float3::null && this->playerState != PLAYER_STATE_JUMPING)
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{
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Oyster::Math::Float3 velocity = this->rigidBody->GetLinearVelocity();
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Oyster::Math::Float3 lostVelocity = (this->previousMoveSpeed - velocity).GetMagnitude()*this->moveDir;
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this->rigidBody->SetLinearVelocity(velocity + lostVelocity - this->moveDir*this->moveSpeed );
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}
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else
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{
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if(this->rigidBody->GetLamda() == 1.0f)
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{
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this->playerState = PLAYER_STATE_WALKING;
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}
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if(this->moveDir != Oyster::Math::Float3::null)
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{
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Oyster::Math::Float3 velocity = this->rigidBody->GetLinearVelocity();
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this->rigidBody->SetLinearVelocity(velocity - this->moveDir*this->moveSpeed );
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}
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}
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this->moveDir = Oyster::Math::Float3::null;
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if (key_forward > 0.001)
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{
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key_forward -= gameInstance->GetFrameTime(); // fixed timer
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forward = this->rigidBody->GetState().GetOrientation().v[2].GetNormalized();
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this->moveDir += this->rigidBody->GetState().GetOrientation().v[2].GetNormalized().xyz;
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}
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if (key_backward > 0.001)
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{
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key_backward -= gameInstance->GetFrameTime();
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back = -this->rigidBody->GetState().GetOrientation().v[2].GetNormalized();
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this->moveDir -= this->rigidBody->GetState().GetOrientation().v[2].GetNormalized().xyz;
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}
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if (key_strafeRight > 0.001)
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{
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key_strafeRight -= gameInstance->GetFrameTime();
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Oyster::Math::Float3 forward = this->rigidBody->GetState().GetOrientation().v[2].GetNormalized();
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Oyster::Math::Float3 up = this->rigidBody->GetState().centerPos.Normalize();
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right = -((up).Cross(forward).Normalize());
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right.Normalize();
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Oyster::Math::Float3 forward = this->rigidBody->GetState().GetOrientation().v[2];
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Oyster::Math::Float3 up = this->rigidBody->GetState().centerPos;
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this->moveDir -= (up).Cross(forward).GetNormalized();
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}
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if (key_strafeLeft > 0.001)
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{
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key_strafeLeft -= gameInstance->GetFrameTime();
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Oyster::Math::Float3 forward = this->rigidBody->GetState().GetOrientation().v[2].GetNormalized();
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Oyster::Math::Float3 up = this->rigidBody->GetState().centerPos.Normalize();
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left = (up).Cross(forward).Normalize();
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left.Normalize();
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Oyster::Math::Float3 forward = this->rigidBody->GetState().GetOrientation().v[2];
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Oyster::Math::Float3 up = this->rigidBody->GetState().centerPos;
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this->moveDir += (up).Cross(forward).GetNormalized();
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}
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moveDirection = forward + back + left + right;
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//moveDirection.Normalize();
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rigidBody->SetLinearVelocity( MOVE_FORCE * moveDirection );
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weapon->Update(0.01f);
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if(this->moveDir != Oyster::Math::Float3::null)
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{
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this->moveDir.Normalize();
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this->rigidBody->SetLinearVelocity(this->moveDir*this->moveSpeed + this->rigidBody->GetLinearVelocity());
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}
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this->previousMoveSpeed = this->rigidBody->GetLinearVelocity();
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this->previousPosition = this->rigidBody->GetState().centerPos;
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this->weapon->Update(0.01f);
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}
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void Player::EndFrame()
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{
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// snap to axis
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Oyster::Math::Float4 rotation;
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this->rigidBody->SetUp(this->rigidBody->GetState().centerPos.GetNormalized());
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Object::EndFrame();
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}
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@ -179,16 +234,18 @@ void Player::Rotate(const Oyster::Math3D::Float3 lookDir, const Oyster::Math3D::
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// this is the camera right vector
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this->lookDir = lookDir;
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Oyster::Math::Float3 up = this->rigidBody->GetState().GetOrientation().v[1];
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this->rigidBody->SetUpAndRight(up, right);
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this->rigidBody->SetUpAndRight(this->rigidBody->GetState().centerPos.GetNormalized(), this->rigidBody->GetState().GetOrientation().v[0].xyz.GetNormalized());
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//Oyster::Math::Float3 up = this->rigidBody->GetState().GetOrientation().v[1];
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//this->rigidBody->SetUpAndRight(up, right);
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}
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void Player::Jump()
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{
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Oyster::Math::Float3 up = this->rigidBody->GetState().GetOrientation().v[1].GetNormalized();
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this->rigidBody->ApplyImpulse(up *1500);
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this->playerState = PLAYER_STATE::PLAYER_STATE_JUMPING;
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if(this->rigidBody->GetLamda() < 1.0f)
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{
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Oyster::Math::Float3 up = this->rigidBody->GetState().GetOrientation().v[1].GetNormalized();
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this->rigidBody->ApplyImpulse(up *1500);
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this->playerState = PLAYER_STATE::PLAYER_STATE_JUMPING;
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}
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}
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bool Player::IsWalking()
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@ -237,4 +294,3 @@ void Player::DamageLife(int damage)
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this->gameInstance->onDisableFnc(this, 0.0f);
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}
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}
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@ -73,7 +73,6 @@ namespace GameLogic
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void EndFrame();
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static Oyster::Physics::ICustomBody::SubscriptMessage PlayerCollisionAfter(Oyster::Physics::ICustomBody *rigidBodyLevel, Oyster::Physics::ICustomBody *obj, Oyster::Math::Float kineticEnergyLoss);
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private:
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void Jump();
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@ -82,7 +81,6 @@ namespace GameLogic
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int teamID;
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Weapon *weapon;
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PLAYER_STATE playerState;
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Oyster::Math::Float3 moveDir;
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Oyster::Math::Float3 lookDir;
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float key_forward;
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float key_backward;
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@ -90,9 +88,15 @@ namespace GameLogic
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float key_strafeLeft;
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float key_jump;
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Oyster::Math::Float3 previousPosition;
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Oyster::Math::Float3 moveDir;
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Oyster::Math::Float moveSpeed;
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Oyster::Math::Float3 previousMoveSpeed;
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bool hasTakenDamage;
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float invincibleCooldown;
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};
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}
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#endif
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@ -14,25 +14,25 @@ StaticObject::StaticObject()
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StaticObject::StaticObject(Oyster::Physics::ICustomBody *rigidBody , void (*EventOnCollision)(Oyster::Physics::ICustomBody *proto,Oyster::Physics::ICustomBody *deuter,Oyster::Math::Float kineticEnergyLoss), ObjectSpecialType type, int objectID)
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:Object(rigidBody, EventOnCollision, type, objectID)
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{
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//use setMass(when it is made) and set the mass to 0 in order to ensure that the object is static
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rigidBody->SetMass(0);
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}
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StaticObject::StaticObject(Oyster::Physics::ICustomBody *rigidBody , Oyster::Physics::ICustomBody::SubscriptMessage (*EventOnCollision)(Oyster::Physics::ICustomBody *proto,Oyster::Physics::ICustomBody *deuter,Oyster::Math::Float kineticEnergyLoss), ObjectSpecialType type, int objectID)
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:Object(rigidBody, EventOnCollision, type, objectID)
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{
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//use setMass(when it is made) and set the mass to 0 in order to ensure that the object is static
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rigidBody->SetMass(0);
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}
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StaticObject::StaticObject(Oyster::Physics::ICustomBody *rigidBody , void (*EventOnCollision)(Oyster::Physics::ICustomBody *proto,Oyster::Physics::ICustomBody *deuter,Oyster::Math::Float kineticEnergyLoss), ObjectSpecialType type, int objectID, Oyster::Math::Float extraDamageOnCollision)
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{
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this->extraDamageOnCollision = extraDamageOnCollision;
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//use setMass(when it is made) and set the mass to 0 in order to ensure that the object is static
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rigidBody->SetMass(0);
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}
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StaticObject::StaticObject(Oyster::Physics::ICustomBody *rigidBody , Oyster::Physics::ICustomBody::SubscriptMessage (*EventOnCollision)(Oyster::Physics::ICustomBody *proto,Oyster::Physics::ICustomBody *deuter,Oyster::Math::Float kineticEnergyLoss), ObjectSpecialType type, int objectID, Oyster::Math::Float extraDamageOnCollision)
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{
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this->extraDamageOnCollision = extraDamageOnCollision;
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//use setMass(when it is made) and set the mass to 0 in order to ensure that the object is static
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rigidBody->SetMass(0);
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}
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StaticObject::~StaticObject(void)
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{
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@ -165,22 +165,16 @@
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</ProjectReference>
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</ItemGroup>
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<ItemGroup>
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<ClInclude Include="Implementation\Octree.h" />
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<ClInclude Include="Implementation\PhysicsAPI_Impl.h" />
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<ClInclude Include="Implementation\SimpleRigidBody.h" />
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<ClInclude Include="Implementation\SphericalRigidBody.h" />
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<ClInclude Include="PhysicsAPI.h" />
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<ClInclude Include="PhysicsFormula-Impl.h" />
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<ClInclude Include="PhysicsFormula.h" />
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<ClInclude Include="PhysicsStructs-Impl.h" />
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<ClInclude Include="PhysicsStructs.h" />
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</ItemGroup>
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<ItemGroup>
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<ClCompile Include="Implementation\Octree.cpp" />
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<ClCompile Include="Implementation\DLLMain.cpp" />
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<ClCompile Include="Implementation\PhysicsAPI_Impl.cpp" />
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<ClCompile Include="Implementation\SimpleRigidBody.cpp" />
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<ClCompile Include="Implementation\SphericalRigidBody.cpp" />
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</ItemGroup>
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<Import Project="$(VCTargetsPath)\Microsoft.Cpp.targets" />
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<ImportGroup Label="ExtensionTargets">
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@ -30,24 +30,12 @@
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<ClInclude Include="Implementation\SimpleRigidBody.h">
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<Filter>Header Files\Implementation</Filter>
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</ClInclude>
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<ClInclude Include="Implementation\SphericalRigidBody.h">
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<Filter>Header Files\Implementation</Filter>
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</ClInclude>
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<ClInclude Include="Implementation\Octree.h">
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<Filter>Header Files\Implementation</Filter>
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</ClInclude>
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<ClInclude Include="PhysicsStructs.h">
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<Filter>Header Files\Include</Filter>
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</ClInclude>
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<ClInclude Include="PhysicsStructs-Impl.h">
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<Filter>Header Files\Include</Filter>
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</ClInclude>
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<ClInclude Include="PhysicsFormula.h">
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<Filter>Header Files\Include</Filter>
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</ClInclude>
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<ClInclude Include="PhysicsFormula-Impl.h">
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<Filter>Header Files\Include</Filter>
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</ClInclude>
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</ItemGroup>
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<ItemGroup>
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<ClCompile Include="Implementation\PhysicsAPI_Impl.cpp">
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@ -59,11 +47,5 @@
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<ClCompile Include="Implementation\DLLMain.cpp">
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<Filter>Source Files</Filter>
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</ClCompile>
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<ClCompile Include="Implementation\SphericalRigidBody.cpp">
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<Filter>Source Files</Filter>
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</ClCompile>
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<ClCompile Include="Implementation\Octree.cpp">
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<Filter>Source Files</Filter>
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</ClCompile>
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</ItemGroup>
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</Project>
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@ -1,226 +0,0 @@
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#include "Octree.h"
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using namespace Oyster;
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using namespace Physics;
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using namespace ::Utility::DynamicMemory;
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const unsigned int Octree::invalid_ref = ::Utility::Value::numeric_limits<unsigned int>::max();
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Octree::Octree(unsigned int bufferSize, unsigned char numLayers, Math::Float3 worldSize)
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{
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this->worldNode.dataPtr = NULL;
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this->worldNode.container.maxVertex = worldSize*0.5f;
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this->worldNode.container.minVertex = -worldSize*0.5f;
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}
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Octree::~Octree()
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{
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}
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Octree& Octree::operator=(const Octree& orig)
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{
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this->leafData = orig.leafData;
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this->updateQueue = orig.updateQueue;
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this->worldNode = orig.worldNode;
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this->mapReferences = orig.mapReferences;
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return *this;
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}
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void Octree::AddObject(UniquePointer< ICustomBody > customBodyRef)
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{
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//customBodyRef->SetScene( this );
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||||
Data data;
|
||||
//Data* tempPtr = this->worldNode.dataPtr;
|
||||
|
||||
//data.container = customBodyRef->GetBoundingSphere();
|
||||
data.queueRef = -1;
|
||||
data.next = NULL;
|
||||
data.prev = NULL;
|
||||
data.customBodyRef = customBodyRef;
|
||||
data.limbo = false;
|
||||
this->mapReferences.insert(std::pair <ICustomBody*, unsigned int> (data.customBodyRef, this->leafData.size()));
|
||||
this->leafData.push_back(data);
|
||||
|
||||
/*if(tempPtr != NULL)
|
||||
{
|
||||
tempPtr->prev->next = &this->leafData[this->leafData.size() - 1];
|
||||
this->leafData[this->leafData.size() - 1].prev = tempPtr->prev;
|
||||
tempPtr->prev = &this->leafData[this->leafData.size() - 1];
|
||||
this->leafData[this->leafData.size() - 1].next = tempPtr;
|
||||
}
|
||||
else
|
||||
{
|
||||
this->worldNode.dataPtr = &this->leafData[this->leafData.size() - 1];
|
||||
this->worldNode.dataPtr->next = this->worldNode.dataPtr;
|
||||
this->worldNode.dataPtr->prev = this->worldNode.dataPtr;
|
||||
}*/
|
||||
}
|
||||
|
||||
void Octree::MoveToUpdateQueue(UniquePointer< ICustomBody > customBodyRef)
|
||||
{
|
||||
/*this->leafData[this->mapReferences[customBodyRef]].queueRef = this->updateQueue.size();
|
||||
this->updateQueue.push_back(&this->leafData[this->mapReferences[customBodyRef]]);*/
|
||||
}
|
||||
|
||||
void Octree::MoveToLimbo(const ICustomBody* customBodyRef)
|
||||
{
|
||||
auto object = this->mapReferences.find(customBodyRef);
|
||||
|
||||
unsigned int tempRef = object->second;
|
||||
|
||||
this->leafData[tempRef].limbo = true;
|
||||
}
|
||||
|
||||
bool Octree::IsInLimbo(const ICustomBody* customBodyRef)
|
||||
{
|
||||
auto object = this->mapReferences.find(customBodyRef);
|
||||
|
||||
unsigned int tempRef = object->second;
|
||||
|
||||
return this->leafData[tempRef].limbo;
|
||||
}
|
||||
|
||||
void Octree::ReleaseFromLimbo(const ICustomBody* customBodyRef)
|
||||
{
|
||||
auto object = this->mapReferences.find(customBodyRef);
|
||||
|
||||
unsigned int tempRef = object->second;
|
||||
|
||||
this->leafData[tempRef].limbo = false;
|
||||
}
|
||||
|
||||
void Octree::DestroyObject(UniquePointer< ICustomBody > customBodyRef)
|
||||
{
|
||||
std::map<const ICustomBody*, unsigned int>::iterator it = this->mapReferences.find(customBodyRef);
|
||||
|
||||
this->mapReferences.erase(it);
|
||||
|
||||
this->leafData.erase(this->leafData.begin() + this->leafData[this->mapReferences[customBodyRef]].queueRef);
|
||||
}
|
||||
|
||||
std::vector<ICustomBody*>& Octree::Sample(ICustomBody* customBodyRef, std::vector<ICustomBody*>& updateList)
|
||||
{
|
||||
auto object = this->mapReferences.find(customBodyRef);
|
||||
|
||||
if(object == this->mapReferences.end())
|
||||
{
|
||||
return updateList;
|
||||
}
|
||||
|
||||
unsigned int tempRef = object->second;
|
||||
|
||||
for(unsigned int i = 0; i<this->leafData.size(); i++)
|
||||
{
|
||||
if(tempRef != i && !this->leafData[i].limbo) if(this->leafData[tempRef].container.Intersects(this->leafData[i].container))
|
||||
{
|
||||
updateList.push_back(this->leafData[i].customBodyRef);
|
||||
}
|
||||
}
|
||||
|
||||
return updateList;
|
||||
}
|
||||
|
||||
std::vector<ICustomBody*>& Octree::Sample(const Oyster::Collision3D::ICollideable& collideable, std::vector<ICustomBody*>& updateList)
|
||||
{
|
||||
for(unsigned int i = 0; i<this->leafData.size(); i++)
|
||||
{
|
||||
if(!this->leafData[i].limbo && this->leafData[i].container.Intersects(collideable))
|
||||
{
|
||||
updateList.push_back(this->leafData[i].customBodyRef);
|
||||
}
|
||||
}
|
||||
|
||||
return updateList;
|
||||
}
|
||||
|
||||
void Octree::Visit(ICustomBody* customBodyRef, VisitorAction hitAction )
|
||||
{
|
||||
auto object = this->mapReferences.find(customBodyRef);
|
||||
|
||||
// If rigid body is not found
|
||||
if(object == this->mapReferences.end())
|
||||
{
|
||||
return;
|
||||
}
|
||||
|
||||
unsigned int tempRef = object->second;
|
||||
|
||||
// Go through all object and test for intersection
|
||||
for(unsigned int i = 0; i<this->leafData.size(); i++)
|
||||
{
|
||||
// If objects intersect call collision response function
|
||||
if(tempRef != i && !this->leafData[i].limbo) if(this->leafData[tempRef].container.Intersects(this->leafData[i].container))
|
||||
{
|
||||
hitAction(*this, tempRef, i);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
void Octree::Visit(const Oyster::Collision3D::ICollideable& collideable, void* args, VisitorActionCollideable hitAction)
|
||||
{
|
||||
for(unsigned int i = 0; i<this->leafData.size(); i++)
|
||||
{
|
||||
if(!this->leafData[i].limbo && collideable.Intersects(this->leafData[i].container))
|
||||
{
|
||||
hitAction( this->GetCustomBody(i), args );
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
ICustomBody* Octree::GetCustomBody(const unsigned int tempRef)
|
||||
{
|
||||
return this->leafData[tempRef].customBodyRef;
|
||||
}
|
||||
|
||||
UniquePointer<ICustomBody> Octree::Extract( const ICustomBody* objRef )
|
||||
{ // Dan Andersson
|
||||
auto iter = this->mapReferences.find( objRef );
|
||||
if( iter != this->mapReferences.end() )
|
||||
{
|
||||
return this->Extract( iter->second );
|
||||
}
|
||||
else
|
||||
{
|
||||
return NULL;
|
||||
}
|
||||
}
|
||||
|
||||
UniquePointer<ICustomBody> Octree::Extract( unsigned int tempRef )
|
||||
{
|
||||
if( tempRef != Octree::invalid_ref )
|
||||
{
|
||||
//! @todo TODO: implement stub
|
||||
return NULL;
|
||||
}
|
||||
else
|
||||
{
|
||||
return NULL;
|
||||
}
|
||||
}
|
||||
|
||||
unsigned int Octree::GetTemporaryReferenceOf( const ICustomBody* objRef ) const
|
||||
{ // Dan Andersson
|
||||
auto iter = this->mapReferences.find( objRef );
|
||||
if( iter != this->mapReferences.end() )
|
||||
{
|
||||
return iter->second;
|
||||
}
|
||||
else
|
||||
{
|
||||
return Octree::invalid_ref;
|
||||
}
|
||||
}
|
||||
|
||||
void Octree::SetAsAltered( unsigned int tempRef )
|
||||
{
|
||||
//this->leafData[tempRef].container = this->leafData[tempRef].customBodyRef->GetBoundingSphere();
|
||||
//! @todo TODO: implement stub
|
||||
}
|
||||
|
||||
void Octree::EvaluatePosition( unsigned int tempRef )
|
||||
{
|
||||
//! @todo TODO: implement stub
|
||||
}
|
||||
|
|
@ -1,85 +0,0 @@
|
|||
#ifndef OCTREE_H
|
||||
#define OCTREE_H
|
||||
|
||||
#include <vector>
|
||||
#include <map>
|
||||
#include "Sphere.h"
|
||||
#include "BoxAxisAligned.h"
|
||||
#include "Utilities.h"
|
||||
#include "../PhysicsAPI.h"
|
||||
|
||||
namespace Oyster
|
||||
{
|
||||
namespace Physics
|
||||
{
|
||||
class Octree
|
||||
{
|
||||
public:
|
||||
static const unsigned int invalid_ref;
|
||||
|
||||
typedef void(*VisitorAction)(Octree&, unsigned int, unsigned int);
|
||||
typedef void(*VisitorActionCollideable)(ICustomBody*, void*);
|
||||
|
||||
struct Data
|
||||
{
|
||||
Data* prev;
|
||||
Data* next;
|
||||
|
||||
Collision3D::Sphere container;
|
||||
|
||||
::Utility::DynamicMemory::UniquePointer< ICustomBody > customBodyRef;
|
||||
|
||||
bool limbo;
|
||||
|
||||
unsigned int queueRef;
|
||||
};
|
||||
|
||||
struct OctreeNode
|
||||
{
|
||||
OctreeNode* children[8];
|
||||
Data* dataPtr;
|
||||
Collision3D::BoxAxisAligned container;
|
||||
};
|
||||
|
||||
Octree(unsigned int bufferSize = 0, unsigned char numLayers = 0, Math::Float3 worldSize = Math::Float3::null);
|
||||
virtual ~Octree();
|
||||
|
||||
Octree& operator=(const Octree& orig);
|
||||
|
||||
void AddObject(::Utility::DynamicMemory::UniquePointer< ICustomBody > customBodyRef);
|
||||
|
||||
void MoveToUpdateQueue(::Utility::DynamicMemory::UniquePointer< ICustomBody > customBodyRef);
|
||||
|
||||
void MoveToLimbo(const ICustomBody* customBodyRef);
|
||||
bool IsInLimbo(const ICustomBody* customBodyRef);
|
||||
void ReleaseFromLimbo(const ICustomBody* customBodyRef);
|
||||
|
||||
void DestroyObject(::Utility::DynamicMemory::UniquePointer< ICustomBody > customBodyRef);
|
||||
|
||||
std::vector<ICustomBody*>& Sample(ICustomBody* customBodyRef, std::vector<ICustomBody*>& updateList);
|
||||
std::vector<ICustomBody*>& Sample(const Oyster::Collision3D::ICollideable& collideable, std::vector<ICustomBody*>& updateList);
|
||||
void Visit(ICustomBody* customBodyRef, VisitorAction hitAction );
|
||||
void Visit(const Oyster::Collision3D::ICollideable& collideable, void* args, VisitorActionCollideable hitAction );
|
||||
|
||||
ICustomBody* GetCustomBody(const unsigned int tempRef);
|
||||
|
||||
::Utility::DynamicMemory::UniquePointer<ICustomBody> Extract( const ICustomBody* objRef );
|
||||
::Utility::DynamicMemory::UniquePointer<ICustomBody> Extract( unsigned int tempRef ); // Dan vill ha
|
||||
unsigned int GetTemporaryReferenceOf( const ICustomBody* objRef ) const; // Dan vill ha
|
||||
void SetAsAltered( unsigned int tempRef ); // Dan vill ha
|
||||
void EvaluatePosition( unsigned int tempRef ); // Dan vill ha
|
||||
|
||||
private:
|
||||
std::vector < Data > leafData;
|
||||
std::vector < Data* > updateQueue;
|
||||
std::vector < Data* > limbo;
|
||||
|
||||
std::map< const ICustomBody*, unsigned int > mapReferences;
|
||||
|
||||
OctreeNode worldNode;
|
||||
};
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
#endif
|
||||
|
|
@ -1,7 +1,6 @@
|
|||
#include "PhysicsAPI_Impl.h"
|
||||
#include "OysterPhysics3D.h"
|
||||
#include "SimpleRigidBody.h"
|
||||
#include "SphericalRigidBody.h"
|
||||
|
||||
using namespace ::Oyster;
|
||||
using namespace ::Oyster::Physics;
|
||||
|
|
@ -181,6 +180,47 @@ ICustomBody* API_Impl::AddCollisionCylinder(::Oyster::Math::Float3 halfSize, ::O
|
|||
return body;
|
||||
}
|
||||
|
||||
ICustomBody* API_Impl::AddCharacter(::Oyster::Math::Float height, ::Oyster::Math::Float radius, ::Oyster::Math::Float4 rotation, ::Oyster::Math::Float3 position, float mass, float restitution, float staticFriction, float dynamicFriction)
|
||||
{
|
||||
SimpleRigidBody* body = new SimpleRigidBody;
|
||||
SimpleRigidBody::State state;
|
||||
|
||||
// Add collision shape
|
||||
btCapsuleShape* collisionShape = new btCapsuleShape(radius, height);
|
||||
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);
|
||||
rigidBody->setAngularFactor(0);
|
||||
rigidBody->setSleepingThresholds(0, 0);
|
||||
body->SetRigidBody(rigidBody);
|
||||
|
||||
// Add rigid body to world
|
||||
this->dynamicsWorld->addRigidBody(rigidBody);
|
||||
this->customBodies.push_back(body);
|
||||
|
||||
state.centerPos = position;
|
||||
state.reach = Float3(radius, height, radius);
|
||||
state.dynamicFrictionCoeff = 0.5f;
|
||||
state.staticFrictionCoeff = 0.5f;
|
||||
state.quaternion = Quaternion(Float3(rotation.xyz), rotation.w);
|
||||
state.mass = mass;
|
||||
|
||||
body->SetState(state);
|
||||
|
||||
return body;
|
||||
}
|
||||
|
||||
void API_Impl::SetTimeStep(float timeStep)
|
||||
{
|
||||
this->timeStep = timeStep;
|
||||
|
|
@ -190,7 +230,9 @@ void API_Impl::UpdateWorld()
|
|||
{
|
||||
for(unsigned int i = 0; i < this->customBodies.size(); i++ )
|
||||
{
|
||||
SimpleRigidBody* simpleBody = dynamic_cast<SimpleRigidBody*>(this->customBodies[i]);
|
||||
this->customBodies[i]->SetGravity(-(this->customBodies[i]->GetState().centerPos - this->gravityPoint).GetNormalized()*this->gravity);
|
||||
simpleBody->PreStep(this->dynamicsWorld);
|
||||
}
|
||||
|
||||
this->dynamicsWorld->stepSimulation(this->timeStep, 1, this->timeStep);
|
||||
|
|
@ -207,7 +249,7 @@ void API_Impl::UpdateWorld()
|
|||
|
||||
if(simpleBody->GetRigidBody()->getActivationState() == ACTIVE_TAG)
|
||||
{
|
||||
simpleBody->CallSubscription_Move();
|
||||
this->customBodies[i]->CallSubscription_Move();
|
||||
}
|
||||
}
|
||||
|
||||
|
|
@ -221,8 +263,8 @@ void API_Impl::UpdateWorld()
|
|||
ICustomBody* bodyA = (ICustomBody*)obA->getUserPointer();
|
||||
ICustomBody* bodyB = (ICustomBody*)obB->getUserPointer();
|
||||
|
||||
dynamic_cast<SimpleRigidBody*>(bodyA)->CallSubscription_AfterCollisionResponse(bodyA, bodyB, 0.0f);
|
||||
dynamic_cast<SimpleRigidBody*>(bodyB)->CallSubscription_AfterCollisionResponse(bodyB, bodyA, 0.0f);
|
||||
bodyA->CallSubscription_AfterCollisionResponse(bodyA, bodyB, 0.0f);
|
||||
bodyB->CallSubscription_AfterCollisionResponse(bodyB, bodyA, 0.0f);
|
||||
}
|
||||
|
||||
}
|
||||
|
|
|
|||
|
|
@ -2,7 +2,6 @@
|
|||
#define PHYSICS_API_IMPL_H
|
||||
|
||||
#include "../PhysicsAPI.h"
|
||||
#include "Octree.h"
|
||||
#include <btBulletDynamicsCommon.h>
|
||||
|
||||
namespace Oyster
|
||||
|
|
@ -65,6 +64,8 @@ namespace Oyster
|
|||
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);
|
||||
|
||||
ICustomBody* AddCharacter(::Oyster::Math::Float height, ::Oyster::Math::Float radius, ::Oyster::Math::Float4 rotation, ::Oyster::Math::Float3 position, float mass, float restitution, float staticFriction, float dynamicFriction);
|
||||
|
||||
void SetTimeStep(float timeStep);
|
||||
|
||||
void UpdateWorld();
|
||||
|
|
|
|||
|
|
@ -139,11 +139,59 @@ void SimpleRigidBody::SetRotation(Float3 eulerAngles)
|
|||
this->state.quaternion = Quaternion(Float3(trans.getRotation().x(), trans.getRotation().y(), trans.getRotation().z()), trans.getRotation().w());
|
||||
}
|
||||
|
||||
void SimpleRigidBody::SetRotation(::Oyster::Math::Float4x4 rotation)
|
||||
{
|
||||
btTransform trans;
|
||||
btMatrix3x3 newRotation;
|
||||
btVector3 rightVector(rotation.v[0].x, rotation.v[0].y, rotation.v[0].z);
|
||||
btVector3 upVector(rotation.v[1].x, rotation.v[1].y, rotation.v[1].z);
|
||||
btVector3 forwardVector(rotation.v[2].x, rotation.v[2].y, rotation.v[2].z);
|
||||
|
||||
|
||||
newRotation[0] = rightVector;
|
||||
newRotation[1] = upVector;
|
||||
newRotation[2] = forwardVector;
|
||||
|
||||
trans = this->rigidBody->getWorldTransform();
|
||||
trans.setBasis(newRotation);
|
||||
this->rigidBody->setWorldTransform(trans);
|
||||
|
||||
btQuaternion quaternion;
|
||||
quaternion = trans.getRotation();
|
||||
this->state.quaternion = Quaternion(Float3(quaternion.x(), quaternion.y(), quaternion.z()), quaternion.w());
|
||||
}
|
||||
|
||||
void SimpleRigidBody::SetRotationAsAngularAxis(::Oyster::Math::Float4 angularAxis)
|
||||
{
|
||||
if(angularAxis.xyz.GetMagnitude() == 0)
|
||||
{
|
||||
return;
|
||||
}
|
||||
|
||||
btTransform trans;
|
||||
btVector3 vector(angularAxis.x, angularAxis.y, angularAxis.z);
|
||||
btQuaternion quaternion(vector, angularAxis.w);
|
||||
|
||||
trans = this->rigidBody->getWorldTransform();
|
||||
trans.setRotation(quaternion);
|
||||
this->rigidBody->setWorldTransform(trans);
|
||||
|
||||
this->state.quaternion = Quaternion(Float3(quaternion.x(), quaternion.y(), quaternion.z()), quaternion.w());
|
||||
}
|
||||
|
||||
void SimpleRigidBody::SetAngularFactor(Float factor)
|
||||
{
|
||||
this->rigidBody->setAngularFactor(factor);
|
||||
}
|
||||
|
||||
void SimpleRigidBody::SetMass(Float mass)
|
||||
{
|
||||
btVector3 fallInertia(0, 0, 0);
|
||||
collisionShape->calculateLocalInertia(mass, fallInertia);
|
||||
this->rigidBody->setMassProps(mass, fallInertia);
|
||||
this->state.mass = mass;
|
||||
}
|
||||
|
||||
void SimpleRigidBody::SetGravity(Float3 gravity)
|
||||
{
|
||||
this->rigidBody->setGravity(btVector3(gravity.x, gravity.y, gravity.z));
|
||||
|
|
@ -177,7 +225,7 @@ void SimpleRigidBody::SetUpAndForward(::Oyster::Math::Float3 up, ::Oyster::Math:
|
|||
btVector3 forwardVector(forward.x, forward.y, forward.z);
|
||||
rotation[1] = upVector.normalized();
|
||||
rotation[2] = forwardVector.normalized();
|
||||
rotation[0] = forwardVector.cross(upVector).normalized();
|
||||
rotation[0] = upVector.cross(forwardVector).normalized();
|
||||
trans = this->rigidBody->getWorldTransform();
|
||||
trans.setBasis(rotation);
|
||||
this->rigidBody->setWorldTransform(trans);
|
||||
|
|
@ -187,6 +235,27 @@ void SimpleRigidBody::SetUpAndForward(::Oyster::Math::Float3 up, ::Oyster::Math:
|
|||
this->state.quaternion = Quaternion(Float3(quaternion.x(), quaternion.y(), quaternion.z()), quaternion.w());
|
||||
}
|
||||
|
||||
void SimpleRigidBody::SetUp(::Oyster::Math::Float3 up)
|
||||
{
|
||||
Float3 vector = Float3(0, 1, 0).Cross(up);
|
||||
|
||||
if(vector == Float3::null)
|
||||
{
|
||||
return;
|
||||
}
|
||||
|
||||
Float sine = vector.GetLength();
|
||||
Float cosine = acos(Float3(0, 1, 0).Dot(up));
|
||||
|
||||
btQuaternion quaternion(btVector3(vector.x, vector.y, vector.z),cosine);
|
||||
|
||||
btTransform trans;
|
||||
trans = this->rigidBody->getWorldTransform();
|
||||
trans.setRotation(quaternion);
|
||||
this->rigidBody->setWorldTransform(trans);
|
||||
this->state.quaternion = Quaternion(Float3(quaternion.x(), quaternion.y(), quaternion.z()), quaternion.w());
|
||||
}
|
||||
|
||||
Float4x4 SimpleRigidBody::GetRotation() const
|
||||
{
|
||||
return this->state.GetRotation();
|
||||
|
|
@ -229,6 +298,16 @@ Float4x4 SimpleRigidBody::GetView( const ::Oyster::Math::Float3 &offset ) const
|
|||
return this->state.GetView(offset);
|
||||
}
|
||||
|
||||
Float3 SimpleRigidBody::GetGravity() const
|
||||
{
|
||||
return this->rigidBody->getGravity();
|
||||
}
|
||||
Float3 SimpleRigidBody::GetLinearVelocity() const
|
||||
{
|
||||
return this->rigidBody->getLinearVelocity();
|
||||
}
|
||||
|
||||
|
||||
void SimpleRigidBody::CallSubscription_AfterCollisionResponse(ICustomBody* bodyA, ICustomBody* bodyB, Oyster::Math::Float kineticEnergyLoss)
|
||||
{
|
||||
if(this->afterCollision)
|
||||
|
|
@ -268,3 +347,58 @@ void SimpleRigidBody::SetCustomTag( void *ref )
|
|||
}
|
||||
|
||||
|
||||
void SimpleRigidBody::PreStep (const btCollisionWorld* collisionWorld)
|
||||
{
|
||||
btTransform xform;
|
||||
this->rigidBody->getMotionState()->getWorldTransform (xform);
|
||||
btVector3 down = -xform.getBasis()[1];
|
||||
btVector3 forward = xform.getBasis()[2];
|
||||
down.normalize ();
|
||||
forward.normalize();
|
||||
|
||||
this->raySource[0] = xform.getOrigin();
|
||||
this->raySource[1] = xform.getOrigin();
|
||||
|
||||
this->rayTarget[0] = this->raySource[0] + down * this->state.reach.y * btScalar(1.1);
|
||||
this->rayTarget[1] = this->raySource[1] + forward * this->state.reach.y * btScalar(1.1);
|
||||
|
||||
class ClosestNotMe : public btCollisionWorld::ClosestRayResultCallback
|
||||
{
|
||||
public:
|
||||
ClosestNotMe (btRigidBody* me) : btCollisionWorld::ClosestRayResultCallback(btVector3(0.0, 0.0, 0.0), btVector3(0.0, 0.0, 0.0))
|
||||
{
|
||||
m_me = me;
|
||||
}
|
||||
|
||||
virtual btScalar addSingleResult(btCollisionWorld::LocalRayResult& rayResult,bool normalInWorldSpace)
|
||||
{
|
||||
if (rayResult.m_collisionObject == m_me)
|
||||
return 1.0;
|
||||
|
||||
return ClosestRayResultCallback::addSingleResult (rayResult, normalInWorldSpace);
|
||||
}
|
||||
protected:
|
||||
btRigidBody* m_me;
|
||||
};
|
||||
|
||||
ClosestNotMe rayCallback(this->rigidBody);
|
||||
|
||||
int i = 0;
|
||||
for (i = 0; i < 2; i++)
|
||||
{
|
||||
rayCallback.m_closestHitFraction = 1.0;
|
||||
if((this->raySource[i] - this->rayTarget[i]).length() != 0)
|
||||
collisionWorld->rayTest (this->raySource[i], this->rayTarget[i], rayCallback);
|
||||
if (rayCallback.hasHit())
|
||||
{
|
||||
this->rayLambda[i] = rayCallback.m_closestHitFraction;
|
||||
} else {
|
||||
this->rayLambda[i] = 1.0;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
float SimpleRigidBody::GetLamda() const
|
||||
{
|
||||
return this->rayLambda[0];
|
||||
}
|
||||
|
|
@ -20,10 +20,6 @@ namespace Oyster
|
|||
|
||||
void ApplyImpulse(Math::Float3 impulse);
|
||||
|
||||
void SetCollisionShape(btCollisionShape* shape);
|
||||
void SetMotionState(btDefaultMotionState* motionState);
|
||||
void SetRigidBody(btRigidBody* rigidBody);
|
||||
|
||||
void SetSubscription(EventAction_AfterCollisionResponse function);
|
||||
void SetSubscription(EventAction_Move function);
|
||||
|
||||
|
|
@ -32,18 +28,25 @@ namespace Oyster
|
|||
void SetRotation(Math::Float4 quaternion);
|
||||
void SetRotation(Math::Quaternion quaternion);
|
||||
void SetRotation(Math::Float3 eulerAngles);
|
||||
void SetRotation(::Oyster::Math::Float4x4 rotation);
|
||||
void SetRotationAsAngularAxis(Math::Float4 angularAxis);
|
||||
void SetAngularFactor(Math::Float factor);
|
||||
void SetMass(Math::Float mass);
|
||||
|
||||
void SetGravity(Math::Float3 gravity);
|
||||
|
||||
void SetUpAndRight(::Oyster::Math::Float3 up, ::Oyster::Math::Float3 right);
|
||||
void SetUpAndForward(::Oyster::Math::Float3 up, ::Oyster::Math::Float3 forward);
|
||||
void SetUpAndRight(Math::Float3 up, Math::Float3 right);
|
||||
void SetUpAndForward(Math::Float3 up, Math::Float3 forward);
|
||||
void SetUp(Math::Float3 up);
|
||||
|
||||
Math::Float4x4 GetRotation() const;
|
||||
Math::Float4 GetRotationAsAngularAxis();
|
||||
Math::Float4x4 GetOrientation() const;
|
||||
Math::Float4x4 GetView() const;
|
||||
Math::Float4x4 GetView( const ::Oyster::Math::Float3 &offset ) const;
|
||||
Math::Float4x4 GetView( const Math::Float3 &offset ) const;
|
||||
|
||||
Math::Float3 GetGravity() const;
|
||||
::Oyster::Math::Float3 GetLinearVelocity() const;
|
||||
|
||||
void CallSubscription_AfterCollisionResponse(ICustomBody* bodyA, ICustomBody* bodyB, Math::Float kineticEnergyLoss);
|
||||
void CallSubscription_Move();
|
||||
|
|
@ -55,6 +58,17 @@ namespace Oyster
|
|||
void SetCustomTag( void *ref );
|
||||
void* GetCustomTag() const;
|
||||
|
||||
|
||||
|
||||
// Class specific
|
||||
void SetCollisionShape(btCollisionShape* shape);
|
||||
void SetMotionState(btDefaultMotionState* motionState);
|
||||
void SetRigidBody(btRigidBody* rigidBody);
|
||||
|
||||
void PreStep(const btCollisionWorld* collisionWorld);
|
||||
|
||||
float GetLamda() const;
|
||||
|
||||
private:
|
||||
|
||||
btCollisionShape* collisionShape;
|
||||
|
|
@ -68,7 +82,11 @@ namespace Oyster
|
|||
|
||||
void *customTag;
|
||||
|
||||
::Oyster::Math::Float3 gravity;
|
||||
Math::Float3 gravity;
|
||||
|
||||
btVector3 raySource[2];
|
||||
btVector3 rayTarget[2];
|
||||
btScalar rayLambda[2];
|
||||
};
|
||||
}
|
||||
}
|
||||
|
|
|
|||
|
|
@ -87,6 +87,8 @@ namespace Oyster
|
|||
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* AddCollisionCylinder(::Oyster::Math::Float3 halfSize, ::Oyster::Math::Float4 rotation, ::Oyster::Math::Float3 position, float mass, float restitution, float staticFriction, float dynamicFriction) = 0;
|
||||
|
||||
virtual ICustomBody* AddCharacter(::Oyster::Math::Float height, ::Oyster::Math::Float radius, ::Oyster::Math::Float4 rotation, ::Oyster::Math::Float3 position, float mass, float restitution, float staticFriction, float dynamicFriction) = 0;
|
||||
|
||||
virtual void SetTimeStep(float timeStep) = 0;
|
||||
|
||||
virtual void UpdateWorld() = 0;
|
||||
|
|
@ -142,12 +144,16 @@ namespace Oyster
|
|||
virtual void SetRotation(::Oyster::Math::Float4 quaternion) = 0;
|
||||
virtual void SetRotation(::Oyster::Math::Quaternion quaternion) = 0;
|
||||
virtual void SetRotation(::Oyster::Math::Float3 eulerAngles) = 0;
|
||||
virtual void SetRotation(::Oyster::Math::Float4x4 rotation) = 0;
|
||||
virtual void SetRotationAsAngularAxis(::Oyster::Math::Float4 angularAxis) = 0;
|
||||
virtual void SetAngularFactor(::Oyster::Math::Float factor) = 0;
|
||||
virtual void SetMass(::Oyster::Math::Float mass) = 0;
|
||||
|
||||
virtual void SetGravity(::Oyster::Math::Float3 gravity) = 0;
|
||||
|
||||
virtual void SetUpAndRight(::Oyster::Math::Float3 up, ::Oyster::Math::Float3 right) = 0;
|
||||
virtual void SetUpAndForward(::Oyster::Math::Float3 up, ::Oyster::Math::Float3 forward) = 0;
|
||||
virtual void SetUp(::Oyster::Math::Float3 up) = 0;
|
||||
|
||||
virtual ::Oyster::Math::Float4x4 GetRotation() const = 0;
|
||||
virtual ::Oyster::Math::Float4 GetRotationAsAngularAxis() = 0;
|
||||
|
|
@ -155,6 +161,12 @@ namespace Oyster
|
|||
virtual ::Oyster::Math::Float4x4 GetView() const = 0;
|
||||
virtual ::Oyster::Math::Float4x4 GetView(const ::Oyster::Math::Float3 &offset) const = 0;
|
||||
|
||||
virtual ::Oyster::Math::Float3 GetGravity() const = 0;
|
||||
virtual ::Oyster::Math::Float3 GetLinearVelocity() const = 0;
|
||||
|
||||
virtual void CallSubscription_AfterCollisionResponse(ICustomBody* bodyA, ICustomBody* bodyB, Math::Float kineticEnergyLoss) = 0;
|
||||
virtual void CallSubscription_Move() = 0;
|
||||
|
||||
/********************************************************
|
||||
* @return the void pointer set by SetCustomTag.
|
||||
* nullptr if none is set.
|
||||
|
|
@ -167,11 +179,12 @@ namespace Oyster
|
|||
* @param ref: Anything castable to a void pointer, the engine won't care.
|
||||
********************************************************/
|
||||
virtual void SetCustomTag( void *ref ) = 0;
|
||||
|
||||
virtual float GetLamda() const = 0;
|
||||
};
|
||||
}
|
||||
}
|
||||
|
||||
#include "PhysicsStructs.h"
|
||||
#include "PhysicsFormula.h"
|
||||
|
||||
#endif
|
||||
|
|
@ -1,82 +0,0 @@
|
|||
#ifndef PHYSICS_FORMULA_IMPL_H
|
||||
#define PHYSICS_FORMULA_IMPL_H
|
||||
|
||||
#include "PhysicsFormula.h"
|
||||
#include "OysterPhysics3D.h"
|
||||
|
||||
namespace Oyster { namespace Physics { namespace Formula
|
||||
{
|
||||
namespace MomentOfInertia
|
||||
{
|
||||
inline ::Oyster::Math::Float4x4 CreateSphereMatrix( const ::Oyster::Math::Float mass, const ::Oyster::Math::Float radius )
|
||||
{
|
||||
return ::Oyster::Physics3D::Formula::MomentOfInertia::Sphere(mass, radius);
|
||||
}
|
||||
|
||||
inline ::Oyster::Math::Float4x4 CreateHollowSphereMatrix( const ::Oyster::Math::Float mass, const ::Oyster::Math::Float radius )
|
||||
{
|
||||
return ::Oyster::Physics3D::Formula::MomentOfInertia::HollowSphere(mass, radius);
|
||||
}
|
||||
|
||||
inline ::Oyster::Math::Float4x4 CreateCuboidMatrix( const ::Oyster::Math::Float mass, const ::Oyster::Math::Float height, const ::Oyster::Math::Float width, const ::Oyster::Math::Float depth )
|
||||
{
|
||||
return ::Oyster::Physics3D::Formula::MomentOfInertia::Cuboid(mass, height, width, depth);
|
||||
}
|
||||
|
||||
inline ::Oyster::Math::Float4x4 CreateCylinderMatrix( const ::Oyster::Math::Float mass, const ::Oyster::Math::Float height, const ::Oyster::Math::Float radius )
|
||||
{
|
||||
return ::Oyster::Physics3D::Formula::MomentOfInertia::Cylinder(mass, height, radius);
|
||||
}
|
||||
|
||||
inline ::Oyster::Math::Float4x4 CreateRodMatrix( const ::Oyster::Math::Float mass, const ::Oyster::Math::Float length )
|
||||
{
|
||||
return ::Oyster::Physics3D::Formula::MomentOfInertia::RodCenter(mass, length);
|
||||
}
|
||||
}
|
||||
|
||||
namespace CollisionResponse
|
||||
{
|
||||
inline ::Oyster::Math::Float Bounce( ::Oyster::Math::Float e, ::Oyster::Math::Float mA, ::Oyster::Math::Float gA, ::Oyster::Math::Float mB, ::Oyster::Math::Float gB )
|
||||
{
|
||||
//return (e + 1) * (mB*gA - mA*gB) / (mA + mB);
|
||||
return (e + 1) * (mA*gB - mB*gA) / (mA + mB);
|
||||
}
|
||||
|
||||
inline ::Oyster::Math::Float4 Friction( ::Oyster::Math::Float i, ::Oyster::Math::Float4 iN, ::Oyster::Math::Float4 momA, ::Oyster::Math::Float sFA, ::Oyster::Math::Float dFA, ::Oyster::Math::Float mA, ::Oyster::Math::Float4 momB, ::Oyster::Math::Float sFB, ::Oyster::Math::Float dFB, ::Oyster::Math::Float mB )
|
||||
{
|
||||
// FRICTION
|
||||
// Relative momentum after normal impulse
|
||||
::Oyster::Math::Float4 relativeMomentum = momB - momA;
|
||||
|
||||
::Oyster::Math::Float4 tanFriction = relativeMomentum - relativeMomentum.Dot( iN ) * iN;
|
||||
|
||||
if( tanFriction.Dot(tanFriction) > 0.0f )
|
||||
{ // no friction if moving directly into surface, or not at all.
|
||||
tanFriction.Normalize();
|
||||
|
||||
::Oyster::Math::Float magnitudeFriction = -relativeMomentum.Dot( tanFriction );
|
||||
magnitudeFriction = magnitudeFriction * mA * mB / ( mA + mB );
|
||||
|
||||
::Oyster::Math::Float mu = 0.5f * ( sFA + sFB );
|
||||
|
||||
::Oyster::Math::Float4 frictionImpulse;
|
||||
if( abs(magnitudeFriction) < i * mu )
|
||||
{
|
||||
frictionImpulse = magnitudeFriction * tanFriction;
|
||||
}
|
||||
else
|
||||
{
|
||||
::Oyster::Math::Float dynamicFriction = 0.5f * ( dFA + dFB );
|
||||
frictionImpulse = ( -i * dynamicFriction ) * tanFriction;
|
||||
}
|
||||
|
||||
return ( 1 / mA ) * frictionImpulse;
|
||||
}
|
||||
else
|
||||
return ::Oyster::Math::Float4::null;
|
||||
}
|
||||
}
|
||||
|
||||
} } }
|
||||
|
||||
#endif
|
||||
|
|
@ -1,35 +0,0 @@
|
|||
#ifndef PHYSICS_FORMULA_H
|
||||
#define PHYSICS_FORMULA_H
|
||||
|
||||
#include "OysterMath.h"
|
||||
#include "OysterPhysics3D.h"
|
||||
|
||||
namespace Oyster { namespace Physics { namespace Formula
|
||||
{
|
||||
namespace MomentOfInertia
|
||||
{
|
||||
::Oyster::Math::Float4x4 CreateSphereMatrix( const ::Oyster::Math::Float mass, const ::Oyster::Math::Float radius );
|
||||
::Oyster::Math::Float4x4 CreateHollowSphereMatrix( const ::Oyster::Math::Float mass, const ::Oyster::Math::Float radius );
|
||||
::Oyster::Math::Float4x4 CreateCuboidMatrix( const ::Oyster::Math::Float mass, const ::Oyster::Math::Float height, const ::Oyster::Math::Float width, const ::Oyster::Math::Float depth );
|
||||
::Oyster::Math::Float4x4 CreateCylinderMatrix( const ::Oyster::Math::Float mass, const ::Oyster::Math::Float height, const ::Oyster::Math::Float radius );
|
||||
::Oyster::Math::Float4x4 CreateRodMatrix( const ::Oyster::Math::Float mass, const ::Oyster::Math::Float length );
|
||||
}
|
||||
|
||||
namespace CollisionResponse
|
||||
{
|
||||
::Oyster::Math::Float Bounce( ::Oyster::Math::Float coeffOfRestitution,
|
||||
::Oyster::Math::Float massA, ::Oyster::Math::Float momentumA,
|
||||
::Oyster::Math::Float massB, ::Oyster::Math::Float momentumB );
|
||||
|
||||
::Oyster::Math::Float4 Friction( ::Oyster::Math::Float impulse, ::Oyster::Math::Float4 impulseNormal,
|
||||
::Oyster::Math::Float4 momentumA, ::Oyster::Math::Float staticFrictionA,
|
||||
::Oyster::Math::Float dynamicFrictionA, ::Oyster::Math::Float massA,
|
||||
::Oyster::Math::Float4 momentumB, ::Oyster::Math::Float staticFrictionB,
|
||||
::Oyster::Math::Float dynamicFrictionB, ::Oyster::Math::Float massB );
|
||||
|
||||
}
|
||||
} } }
|
||||
|
||||
#include "PhysicsFormula-Impl.h"
|
||||
|
||||
#endif
|
||||
|
|
@ -10,9 +10,10 @@ namespace Oyster
|
|||
{
|
||||
namespace Struct
|
||||
{
|
||||
inline CustomBodyState::CustomBodyState( ::Oyster::Math::Float mass, ::Oyster::Math::Float restitutionCoeff, ::Oyster::Math::Float staticFrictionCoeff, ::Oyster::Math::Float dynamicFrictionCoeff, const ::Oyster::Math::Float3 ¢erPos, const ::Oyster::Math::Quaternion& quaternion)
|
||||
inline CustomBodyState::CustomBodyState( ::Oyster::Math::Float mass, ::Oyster::Math::Float3 reach, ::Oyster::Math::Float restitutionCoeff, ::Oyster::Math::Float staticFrictionCoeff, ::Oyster::Math::Float dynamicFrictionCoeff, const ::Oyster::Math::Float3 ¢erPos, const ::Oyster::Math::Quaternion& quaternion)
|
||||
{
|
||||
this->mass = mass;
|
||||
this->reach = reach;
|
||||
this->restitutionCoeff = restitutionCoeff;
|
||||
this->staticFrictionCoeff = staticFrictionCoeff;
|
||||
this->dynamicFrictionCoeff = dynamicFrictionCoeff;
|
||||
|
|
@ -24,6 +25,7 @@ namespace Oyster
|
|||
{
|
||||
this->mass = state.mass;
|
||||
this->restitutionCoeff = state.restitutionCoeff;
|
||||
this->reach = state.reach;
|
||||
this->staticFrictionCoeff = state.staticFrictionCoeff;
|
||||
this->dynamicFrictionCoeff = state.dynamicFrictionCoeff;
|
||||
this->centerPos = state.centerPos;
|
||||
|
|
|
|||
|
|
@ -16,6 +16,7 @@ namespace Oyster
|
|||
public:
|
||||
// Default constructor
|
||||
CustomBodyState( ::Oyster::Math::Float mass = 1.0f,
|
||||
::Oyster::Math::Float3 reach = ::Oyster::Math::Float3(0,0,0),
|
||||
::Oyster::Math::Float restitutionCoeff = 0.5f,
|
||||
::Oyster::Math::Float staticFrictionCoeff = 1.0f,
|
||||
::Oyster::Math::Float dynamicFrictionCoeff = 1.0f,
|
||||
|
|
|
|||
Loading…
Reference in New Issue