Options for rigid bodies are now set directly

Code/GamePhysics/Implementation/PhysicsAPI_Impl.cpp

@@ -142,19 +142,15 @@ void API_Impl::UpdateWorld()
 
 	for(unsigned int i = 0; i < this->customBodies.size(); i++ )
 	{
-		this->customBodies[i]->GetState(state);
-
 		btTransform trans;
 		dynamic_cast<SimpleRigidBody*>(this->customBodies[i])->GetMotionState()->getWorldTransform(trans);
-		state.centerPos = Float3(trans.getOrigin().x(), trans.getOrigin().y(), trans.getOrigin().z());
+		this->customBodies[i]->SetPosition(Float3(trans.getOrigin().x(), trans.getOrigin().y(), trans.getOrigin().z()));
-		state.quaternion = Quaternion(Float3(trans.getRotation().x(), trans.getRotation().y(), trans.getRotation().z()), trans.getRotation().w());
+		this->customBodies[i]->SetRotation(Quaternion(Float3(trans.getRotation().x(), trans.getRotation().y(), trans.getRotation().z()), trans.getRotation().w()));
 		
 		if(dynamic_cast<SimpleRigidBody*>(this->customBodies[i])->GetRigidBody()->getActivationState() == ACTIVE_TAG)
 		{
 			dynamic_cast<SimpleRigidBody*>(this->customBodies[i])->CallSubscription_Move();
 		}
-
-		this->customBodies[i]->SetState(state);
 	}
 
 	int numManifolds = this->dynamicsWorld->getDispatcher()->getNumManifolds();

Code/GamePhysics/Implementation/SimpleRigidBody.cpp

@@ -69,12 +69,31 @@ void SimpleRigidBody::SetLinearVelocity(Float3 velocity)
 	this->rigidBody->setLinearVelocity(btVector3(velocity.x, velocity.y, velocity.z));
 }
 
+void SimpleRigidBody::SetPosition(::Oyster::Math::Float3 position)
+{
+	btTransform trans;
+	this->motionState->getWorldTransform(trans);
+	trans.setOrigin(btVector3(position.x, position.y, position.z));
+	this->motionState->setWorldTransform(trans);
+	this->state.centerPos = position;
+}
+
 void SimpleRigidBody::SetRotation(Float4 quaternion)
 {
 	btTransform trans;
 	this->motionState->getWorldTransform(trans);
 	trans.setRotation(btQuaternion(quaternion.x, quaternion.y, quaternion.z, quaternion.w));
 	this->motionState->setWorldTransform(trans);
+	this->state.quaternion = Quaternion(quaternion.xyz, quaternion.w);
+}
+
+void SimpleRigidBody::SetRotation(::Oyster::Math::Quaternion quaternion)
+{
+	btTransform trans;
+	this->motionState->getWorldTransform(trans);
+	trans.setRotation(btQuaternion(quaternion.imaginary.x, quaternion.imaginary.y, quaternion.imaginary.z, quaternion.real));
+	this->motionState->setWorldTransform(trans);
+	this->state.quaternion = quaternion;
 }
 
 void SimpleRigidBody::SetRotation(Float3 eulerAngles)
@@ -83,6 +102,27 @@ void SimpleRigidBody::SetRotation(Float3 eulerAngles)
 	this->motionState->getWorldTransform(trans);
 	trans.setRotation(btQuaternion(eulerAngles.x, eulerAngles.y, eulerAngles.z));
 	this->motionState->setWorldTransform(trans);
+	this->state.quaternion = Quaternion(Float3(trans.getRotation().x(), trans.getRotation().y(), trans.getRotation().z()), trans.getRotation().w());
+}
+
+Float4x4 SimpleRigidBody::GetRotation() const
+{
+	return this->state.GetRotation();
+}
+
+Float4x4 SimpleRigidBody::GetOrientation() const
+{
+	return this->state.GetOrientation();
+}
+
+Float4x4 SimpleRigidBody::GetView() const
+{
+	return this->state.GetView();
+}
+
+Float4x4 SimpleRigidBody::GetView( const ::Oyster::Math::Float3 &offset ) const
+{
+	return this->state.GetView(offset);
 }
 
 void SimpleRigidBody::CallSubscription_AfterCollisionResponse(ICustomBody* bodyA, ICustomBody* bodyB, Oyster::Math::Float kineticEnergyLoss)
@@ -112,22 +152,6 @@ btRigidBody* SimpleRigidBody::GetRigidBody() const
 	return this->rigidBody;
 }
 
-SimpleRigidBody::State SimpleRigidBody::GetState() const
-{
-	return this->state;
-}
-
-SimpleRigidBody::State & SimpleRigidBody::GetState( SimpleRigidBody::State &targetMem ) const
-{
-	targetMem = this->state;
-	return targetMem;
-}
-
-void SimpleRigidBody::SetState( const SimpleRigidBody::State &state )
-{
-	this->state = state;
-}
-
 void * SimpleRigidBody::GetCustomTag() const
 {
 	return this->customTag;

Code/GamePhysics/Implementation/SimpleRigidBody.h

@@ -22,16 +22,19 @@ namespace Oyster
 			void SetSubscription(EventAction_Move function);
 
 			void SetLinearVelocity(Math::Float3 velocity);
+			void SetPosition(::Oyster::Math::Float3 position);
 			void SetRotation(Math::Float4 quaternion);
+			void SetRotation(::Oyster::Math::Quaternion quaternion);
 			void SetRotation(Math::Float3 eulerAngles);
 
+			Math::Float4x4 GetRotation() const;
+			Math::Float4x4 GetOrientation() const;
+			Math::Float4x4 GetView() const;
+			Math::Float4x4 GetView( const ::Oyster::Math::Float3 &offset ) const;
+
 			void CallSubscription_AfterCollisionResponse(ICustomBody* bodyA, ICustomBody* bodyB, Math::Float kineticEnergyLoss);
 			void CallSubscription_Move();
 
-			State GetState() const;
-			State & GetState( State &targetMem ) const;
-			void SetState( const State &state );
-
 			btCollisionShape* GetCollisionShape() const;
 			btDefaultMotionState* GetMotionState() const;
 			btRigidBody* GetRigidBody() const;

Code/GamePhysics/PhysicsAPI.h

@@ -123,31 +123,21 @@ namespace Oyster
 
 			virtual ~ICustomBody() {};
 
-			/********************************************************
-			 * Gets the current state of the rigid body
-			 * @return the current state of the rigid body
-			 ********************************************************/
-			virtual State GetState() const = 0;
-
-			/********************************************************
-			 * Gets the current state of the rigid body
-			 * @param targetMem: The state is copied into targetMem
-			 * @return the current state of the rigid body
-			 ********************************************************/
-			virtual State & GetState( State &targetMem ) const = 0;
-
-			/********************************************************
-			 * Sets the current state of the rigid body
-			 ********************************************************/
-			virtual void SetState( const State &state ) = 0;		
 
 			virtual void SetSubscription(EventAction_AfterCollisionResponse function) = 0;
 			virtual void SetSubscription(EventAction_Move function) = 0;
 
 			virtual void SetLinearVelocity(::Oyster::Math::Float3 velocity) = 0;
+			virtual void SetPosition(::Oyster::Math::Float3 position) = 0;
 			virtual void SetRotation(::Oyster::Math::Float4 quaternion) = 0;
+			virtual void SetRotation(::Oyster::Math::Quaternion quaternion) = 0;
 			virtual void SetRotation(::Oyster::Math::Float3 eulerAngles) = 0;
 
+			::Oyster::Math::Float4x4 GetRotation() const;
+			::Oyster::Math::Float4x4 GetOrientation() const;
+			::Oyster::Math::Float4x4 GetView() const;
+			::Oyster::Math::Float4x4 GetView( const ::Oyster::Math::Float3 &offset ) const;
+
 			/********************************************************
 			 * @return the void pointer set by SetCustomTag.
 			 * nullptr if none is set.

Code/GamePhysics/PhysicsStructs.h

@@ -31,12 +31,6 @@ namespace Oyster
 				::Oyster::Math::Float4x4	 GetView() const;
 				::Oyster::Math::Float4x4	 GetView( const ::Oyster::Math::Float3 &offset ) const;
 			
-				::Oyster::Math::Float		GetMass() const;
-				::Oyster::Math::Float		GetStaticFriction() const;
-				::Oyster::Math::Float		GetDynamicFriction() const;
-				::Oyster::Math::Float		GetRestitution() const;
-
-			
 				// Variables for state
 				::Oyster::Math::Float mass, restitutionCoeff, staticFrictionCoeff, dynamicFrictionCoeff;
 				::Oyster::Math::Float3 reach, centerPos;