Merge branch 'Physics' of https://github.com/dean11/Danbias into GameLogic

Code/GamePhysics/Implementation/Octree.cpp

@@ -40,6 +40,7 @@ void Octree::AddObject(UniquePointer< ICustomBody > customBodyRef)
 	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);
 
@@ -64,6 +65,33 @@ void Octree::MoveToUpdateQueue(UniquePointer< ICustomBody > customBodyRef)
 	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);
@@ -86,7 +114,7 @@ std::vector<ICustomBody*>& Octree::Sample(ICustomBody* customBodyRef, std::vecto
 
 	for(unsigned int i = 0; i<this->leafData.size(); i++)
 	{
-		if(tempRef != i) if(this->leafData[tempRef].container.Intersects(this->leafData[i].container))
+		if(tempRef != i && !this->leafData[i].limbo) if(this->leafData[tempRef].container.Intersects(this->leafData[i].container))
 		{
 			updateList.push_back(this->leafData[i].customBodyRef);
 		}
@@ -99,7 +127,7 @@ std::vector<ICustomBody*>& Octree::Sample(const Oyster::Collision3D::ICollideabl
 {
 	for(unsigned int i = 0; i<this->leafData.size(); i++)
 	{
-		if(this->leafData[i].container.Intersects(collideable))
+		if(!this->leafData[i].limbo && this->leafData[i].container.Intersects(collideable))
 		{
 			updateList.push_back(this->leafData[i].customBodyRef);
 		}
@@ -121,7 +149,7 @@ void Octree::Visit(ICustomBody* customBodyRef, VisitorAction hitAction )
 
 	for(unsigned int i = 0; i<this->leafData.size(); i++)
 	{
-		if(tempRef != i) if(this->leafData[tempRef].container.Intersects(this->leafData[i].container))
+		if(tempRef != i && !this->leafData[i].limbo) if(this->leafData[tempRef].container.Intersects(this->leafData[i].container))
 		{
 			hitAction(*this, tempRef, i);
 		}
@@ -132,7 +160,7 @@ void Octree::Visit(const Oyster::Collision3D::ICollideable& collideable, void* a
 {
 	for(unsigned int i = 0; i<this->leafData.size(); i++)
 	{
-		if(collideable.Intersects(this->leafData[i].container))
+		if(!this->leafData[i].limbo && collideable.Intersects(this->leafData[i].container))
 		{
 			hitAction( this->GetCustomBody(i), args );
 		}

Code/GamePhysics/Implementation/Octree.h

@@ -29,6 +29,8 @@ namespace Oyster
 
 				::Utility::DynamicMemory::UniquePointer< ICustomBody > customBodyRef;
 
+				bool limbo;
+
 				unsigned int queueRef;
 			};
 
@@ -48,6 +50,10 @@ namespace Oyster
 
 			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);
@@ -66,6 +72,7 @@ namespace Oyster
 		private:
 			std::vector < Data > leafData;
 			std::vector < Data* > updateQueue;
+			std::vector < Data* > limbo;
 
 			std::map< const ICustomBody*, unsigned int > mapReferences;
 

Code/GamePhysics/Implementation/PhysicsAPI_Impl.cpp

@@ -60,6 +60,8 @@ namespace
 				return;
 			}
 
+			// calculate and store time interpolation value, for later rebound.
+			proto->SetTimeOfContact( worldPointOfContact );
 
 			// bounce
 			Float4 bounceD = normal * -Formula::CollisionResponse::Bounce( deuterState.GetRestitutionCoeff(),
@@ -79,9 +81,13 @@ namespace
 
 			Float4 bounce = Average( bounceD, bounceP );
 
+			Float4 friction = Formula::CollisionResponse::Friction( protoG_Magnitude, normal,
+															  Float4(protoState.GetLinearMomentum(), 0),  protoState.GetFrictionCoeff_Static(),  protoState.GetFrictionCoeff_Kinetic(),  protoState.GetMass(), 
+															  Float4(deuterState.GetLinearMomentum(), 0), deuterState.GetFrictionCoeff_Static(), deuterState.GetFrictionCoeff_Kinetic(), deuterState.GetMass());
+			
 			Float kineticEnergyPBefore = Oyster::Physics3D::Formula::LinearKineticEnergy( protoState.GetMass(), protoState.GetLinearMomentum()/protoState.GetMass() );
 
-			protoState.ApplyImpulse( bounce.xyz, worldPointOfContact.xyz, normal.xyz );
+			protoState.ApplyImpulse( bounce.xyz - friction.xyz, worldPointOfContact.xyz, normal.xyz );
 			proto->SetState( protoState );
 
 			Float kineticEnergyPAFter = Oyster::Physics3D::Formula::LinearKineticEnergy( protoState.GetMass(), (protoState.GetLinearMomentum() + protoState.GetLinearImpulse())/protoState.GetMass() );
@@ -233,17 +239,16 @@ void API_Impl::Update()
 
 bool API_Impl::IsInLimbo( const ICustomBody* objRef )
 {
-	//! @todo TODO: implement stub
+	return this->worldScene.IsInLimbo( objRef );
-	return true;
 }
 
 void API_Impl::MoveToLimbo( const ICustomBody* objRef )
 {
-	/** @todo TODO: Fix this function.*/
+	this->worldScene.MoveToLimbo( objRef );
 }
 void API_Impl::ReleaseFromLimbo( const ICustomBody* objRef )
 {
-	/** @todo TODO: Fix this function.*/
+	this->worldScene.ReleaseFromLimbo( objRef );
 }
 
 void API_Impl::AddObject( ::Utility::DynamicMemory::UniquePointer<ICustomBody> handle )

Code/GamePhysics/Implementation/SimpleRigidBody.cpp

@@ -49,6 +49,12 @@ SimpleRigidBody::SimpleRigidBody()
 	this->onCollision = Default::EventAction_BeforeCollisionResponse;
 	this->onCollisionResponse = Default::EventAction_AfterCollisionResponse;
 	this->onMovement = Default::EventAction_Move;
+	
+	this->collisionRebound.previousSpatial.center = this->rigid.centerPos;
+	this->collisionRebound.previousSpatial.axis = this->rigid.axis;
+	this->collisionRebound.previousSpatial.reach = this->rigid.boundingReach;
+	this->collisionRebound.timeOfContact = 1.0f;
+
 	this->scene = nullptr;
 	this->customTag = nullptr;
 	this->ignoreGravity = this->isForwarded = false;
@@ -56,7 +62,8 @@ SimpleRigidBody::SimpleRigidBody()
 
 SimpleRigidBody::SimpleRigidBody( const API::SimpleBodyDescription &desc )
 {	
-	//this->rigid.SetRotation( desc.rotation );
+	this->rigid = RigidBody();
+	this->rigid.SetRotation( desc.rotation );
 	this->rigid.centerPos = desc.centerPosition;
 	this->rigid.SetSize( desc.size );
 	this->rigid.SetMass_KeepMomentum( desc.mass );
@@ -66,6 +73,11 @@ SimpleRigidBody::SimpleRigidBody( const API::SimpleBodyDescription &desc )
 
 	this->gravityNormal = Float3::null;
 	
+	this->collisionRebound.previousSpatial.center = this->rigid.centerPos;
+	this->collisionRebound.previousSpatial.axis = this->rigid.axis;
+	this->collisionRebound.previousSpatial.reach = this->rigid.boundingReach;
+	this->collisionRebound.timeOfContact = 1.0f;
+
 	if( desc.subscription_onCollision )
 	{
 		this->onCollision = desc.subscription_onCollision;
@@ -198,6 +210,26 @@ bool SimpleRigidBody::Intersects( const ICustomBody &object, Float4 &worldPointO
 	return object.Intersects( Box(this->rigid.GetRotationMatrix(), this->rigid.centerPos, this->rigid.GetSize()), worldPointOfContact );
 }
 
+void SimpleRigidBody::SetTimeOfContact( Float4 &worldPointOfContact )
+{
+	Point pointOfContact = Point( worldPointOfContact );
+	Box start = Box();
+	{
+		start.rotation = RotationMatrix( this->collisionRebound.previousSpatial.axis );
+		start.center = this->collisionRebound.previousSpatial.center;
+		start.boundingOffset = this->collisionRebound.previousSpatial.reach;
+	}
+	Box end = Box();
+	{
+		end.rotation = RotationMatrix( this->rigid.axis );
+		end.center = this->rigid.centerPos;
+		end.boundingOffset = this->rigid.boundingReach;
+	}
+	Float timeOfContact = ::Oyster::Collision3D::Utility::TimeOfContact( start, end, pointOfContact );
+
+	this->collisionRebound.timeOfContact = Min( this->collisionRebound.timeOfContact, timeOfContact );
+}
+
 Sphere & SimpleRigidBody::GetBoundingSphere( Sphere &targetMem ) const
 {
 	return targetMem = Sphere( this->rigid.centerPos, this->rigid.boundingReach.GetMagnitude() );
@@ -293,18 +325,52 @@ void * SimpleRigidBody::GetCustomTag() const
 
 UpdateState SimpleRigidBody::Update( Float timeStepLength )
 {
-	if( this->isForwarded )
+	//if( this->isForwarded )
-	{
+	//{
-		this->rigid.Move( this->deltaPos.xyz, this->deltaAxis.xyz );
+	//	this->rigid.Move( this->deltaPos.xyz, this->deltaAxis.xyz );
-		this->deltaPos = Float4::null;
+	//	this->deltaPos = Float4::null;
-		this->deltaAxis = Float4::null;
+	//	this->deltaAxis = Float4::null;
-		this->isForwarded = false;
+	//	this->isForwarded = false;
-	}
+	//}
 
 	this->rigid.Update_LeapFrog( timeStepLength );
 
-	//! @todo TODO: compare previous and new state and return result
+	{ // Rebound if needed
-	//return this->current == this->previous ? UpdateState_resting : UpdateState_altered;
+		if( this->collisionRebound.timeOfContact < 1.0f )
+		{
+			this->rigid.centerPos = Lerp( this->collisionRebound.previousSpatial.center, this->rigid.centerPos, this->collisionRebound.timeOfContact );
+			this->rigid.SetRotation( Lerp(this->collisionRebound.previousSpatial.axis, this->rigid.axis, this->collisionRebound.timeOfContact) );
+			this->rigid.boundingReach = Lerp( this->collisionRebound.previousSpatial.reach, this->rigid.boundingReach, this->collisionRebound.timeOfContact );
+		}
+
+		// Update rebound data
+		this->collisionRebound.previousSpatial.center = this->rigid.centerPos;
+		this->collisionRebound.previousSpatial.axis = this->rigid.axis;
+		this->collisionRebound.previousSpatial.reach = this->rigid.boundingReach;
+		this->collisionRebound.timeOfContact = 1.0f;
+	}
+
+	{ // Maintain rotation resolution by keeping axis within [0, 2pi] (trigonometric methods gets faster too)
+		Float3 n;
+		::std::modf( this->rigid.axis * (0.5f / pi), n );
+		this->rigid.axis -= (2.0f * pi) * n;
+	}
+
+	{ // Check if this is close enough to be set resting
+		unsigned char resting = 0;
+		if( this->rigid.momentum_Linear.Dot(this->rigid.momentum_Linear) <= (Constant::epsilon * Constant::epsilon) )
+		{
+			this->rigid.momentum_Linear = Float3::null;
+			resting = 1;
+		}
+		if( this->rigid.momentum_Angular.Dot(this->rigid.momentum_Angular) <= (Constant::epsilon * Constant::epsilon) )
+		{
+			this->rigid.momentum_Angular = Float3::null;
+			++resting;
+		}
+		if( resting == 2 ) return UpdateState_resting;
+	}
+
 	return UpdateState_altered;
 }
 

Code/GamePhysics/Implementation/SimpleRigidBody.h

@@ -30,6 +30,8 @@ namespace Oyster { namespace Physics
 		bool Intersects( const ::Oyster::Collision3D::ICollideable &shape, ::Oyster::Math::Float4 &worldPointOfContact ) const;
 		bool Intersects( const ICustomBody &object, ::Oyster::Math::Float4 &worldPointOfContact ) const;
 
+		void SetTimeOfContact( ::Oyster::Math::Float4 &worldPointOfContact );
+
 		::Oyster::Collision3D::Sphere &	GetBoundingSphere( ::Oyster::Collision3D::Sphere &targetMem = ::Oyster::Collision3D::Sphere() ) const;
 		::Oyster::Math::Float4 &		GetNormalAt( const ::Oyster::Math::Float4 &worldPos, ::Oyster::Math::Float4 &targetMem = ::Oyster::Math::Float4() ) const;
 		::Oyster::Math::Float3 &		GetGravityNormal( ::Oyster::Math::Float3 &targetMem = ::Oyster::Math::Float3() ) const;
@@ -65,9 +67,17 @@ namespace Oyster { namespace Physics
 		::Oyster::Physics3D::RigidBody rigid;
 		::Oyster::Math::Float4 deltaPos, deltaAxis;
 		::Oyster::Math::Float3 gravityNormal;
+
+		struct
+		{
+			struct { ::Oyster::Math::Float3 center, axis, reach; } previousSpatial;
+			::Oyster::Math::Float timeOfContact;
+		} collisionRebound;
+
 		EventAction_BeforeCollisionResponse onCollision;
 		EventAction_AfterCollisionResponse onCollisionResponse;
 		EventAction_Move onMovement;
+
 		Octree *scene;
 		void *customTag;
 		bool ignoreGravity, isForwarded;

Code/GamePhysics/Implementation/SphericalRigidBody.cpp

@@ -11,11 +11,17 @@ using namespace ::Utility::Value;
 SphericalRigidBody::SphericalRigidBody()
 {
 	this->rigid = RigidBody();
-	this->rigid.SetMass_KeepMomentum( 10.0f );
+	this->rigid.SetMass_KeepMomentum( 16.0f );
 	this->gravityNormal = Float3::null;
 	this->onCollision = Default::EventAction_BeforeCollisionResponse;
 	this->onCollisionResponse = Default::EventAction_AfterCollisionResponse;
 	this->onMovement = Default::EventAction_Move;
+	
+	this->collisionRebound.previousSpatial.center = this->rigid.centerPos;
+	this->collisionRebound.previousSpatial.axis = this->rigid.axis;
+	this->collisionRebound.previousSpatial.reach = this->rigid.boundingReach;
+	this->collisionRebound.timeOfContact = 1.0f;
+
 	this->scene = nullptr;
 	this->customTag = nullptr;
 	this->ignoreGravity = this->isForwarded = false;
@@ -24,7 +30,7 @@ SphericalRigidBody::SphericalRigidBody()
 SphericalRigidBody::SphericalRigidBody( const API::SphericalBodyDescription &desc )
 {
 	this->rigid = RigidBody();
-	//this->rigid.SetRotation( desc.rotation );
+	this->rigid.SetRotation( desc.rotation );
 	this->rigid.centerPos = desc.centerPosition;
 	this->rigid.boundingReach = Float4( desc.radius, desc.radius, desc.radius, 0.0f );
 	this->rigid.SetMass_KeepMomentum( desc.mass );
@@ -34,6 +40,11 @@ SphericalRigidBody::SphericalRigidBody( const API::SphericalBodyDescription &des
 
 	this->gravityNormal = Float3::null;
 
+	this->collisionRebound.previousSpatial.center = this->rigid.centerPos;
+	this->collisionRebound.previousSpatial.axis = this->rigid.axis;
+	this->collisionRebound.previousSpatial.reach = this->rigid.boundingReach;
+	this->collisionRebound.timeOfContact = 1.0f;
+
 	if( desc.subscription_onCollision )
 	{
 		this->onCollision = desc.subscription_onCollision;
@@ -64,6 +75,11 @@ SphericalRigidBody::SphericalRigidBody( const API::SphericalBodyDescription &des
 	this->scene = nullptr;
 	this->customTag = nullptr;
 	this->ignoreGravity = desc.ignoreGravity;
+
+	this->collisionRebound.previousSpatial.center = this->rigid.centerPos;
+	this->collisionRebound.previousSpatial.axis = this->rigid.axis;
+	this->collisionRebound.previousSpatial.reach = this->rigid.boundingReach;
+	this->collisionRebound.timeOfContact = 1.0f;
 }
 
 SphericalRigidBody::~SphericalRigidBody() {}
@@ -165,6 +181,17 @@ bool SphericalRigidBody::Intersects( const ICustomBody &object, Float4 &worldPoi
 	return object.Intersects( Sphere(this->rigid.centerPos, this->rigid.boundingReach.x), worldPointOfContact );
 }
 
+void SphericalRigidBody::SetTimeOfContact( Float4 &worldPointOfContact )
+{
+	Point pointOfContact = Point( worldPointOfContact );
+	Sphere start = Sphere( this->collisionRebound.previousSpatial.center, this->collisionRebound.previousSpatial.reach.x );
+	Sphere end = Sphere( this->rigid.centerPos, this->rigid.boundingReach.x );
+
+	Float timeOfContact = ::Oyster::Collision3D::Utility::TimeOfContact( start, end, pointOfContact );
+
+	this->collisionRebound.timeOfContact = Min( this->collisionRebound.timeOfContact, timeOfContact );
+}
+
 Sphere & SphericalRigidBody::GetBoundingSphere( Sphere &targetMem ) const
 {
 	return targetMem = Sphere( this->rigid.centerPos, this->rigid.boundingReach.x );
@@ -219,18 +246,52 @@ void * SphericalRigidBody::GetCustomTag() const
 
 UpdateState SphericalRigidBody::Update( Float timeStepLength )
 {
-	if( this->isForwarded )
+	//if( this->isForwarded )
-	{
+	//{
-		this->rigid.Move( this->deltaPos.xyz, this->deltaAxis.xyz );
+	//	this->rigid.Move( this->deltaPos.xyz, this->deltaAxis.xyz );
-		this->deltaPos = Float4::null;
+	//	this->deltaPos = Float4::null;
-		this->deltaAxis = Float4::null;
+	//	this->deltaAxis = Float4::null;
-		this->isForwarded = false;
+	//	this->isForwarded = false;
-	}
+	//}
 
 	this->rigid.Update_LeapFrog( timeStepLength );
 
-	// compare previous and new state and return result
+	{ // Rebound if needed
-	//return this->current == this->previous ? UpdateState_resting : UpdateState_altered;
+		if( this->collisionRebound.timeOfContact < 1.0f )
+		{
+			this->rigid.centerPos = Lerp( this->collisionRebound.previousSpatial.center, this->rigid.centerPos, this->collisionRebound.timeOfContact );
+			this->rigid.SetRotation( Lerp(this->collisionRebound.previousSpatial.axis, this->rigid.axis, this->collisionRebound.timeOfContact) );
+			this->rigid.boundingReach = Lerp( this->collisionRebound.previousSpatial.reach, this->rigid.boundingReach, this->collisionRebound.timeOfContact );
+		}
+
+		// Update rebound data
+		this->collisionRebound.previousSpatial.center = this->rigid.centerPos;
+		this->collisionRebound.previousSpatial.axis = this->rigid.axis;
+		this->collisionRebound.previousSpatial.reach = this->rigid.boundingReach;
+		this->collisionRebound.timeOfContact = 1.0f;
+	}
+
+	{ // Maintain rotation resolution by keeping axis within [0, 2pi] (trigonometric methods gets faster too)
+		Float3 n;
+		::std::modf( this->rigid.axis * (0.5f / pi), n );
+		this->rigid.axis -= (2.0f * pi) * n;
+	}
+
+	{ // Check if this is close enough to be set resting
+		unsigned char resting = 0;
+		if( this->rigid.momentum_Linear.Dot(this->rigid.momentum_Linear) <= (Constant::epsilon * Constant::epsilon) )
+		{
+			this->rigid.momentum_Linear = Float3::null;
+			resting = 1;
+		}
+		if( this->rigid.momentum_Angular.Dot(this->rigid.momentum_Angular) <= (Constant::epsilon * Constant::epsilon) )
+		{
+			this->rigid.momentum_Angular = Float3::null;
+			++resting;
+		}
+		if( resting == 2 ) return UpdateState_resting;
+	}
+
 	return UpdateState_altered;
 }
 

Code/GamePhysics/Implementation/SphericalRigidBody.h

@@ -31,6 +31,8 @@ namespace Oyster { namespace Physics
 		bool Intersects( const ::Oyster::Collision3D::ICollideable &shape, ::Oyster::Math::Float4 &worldPointOfContact ) const;
 		bool Intersects( const ICustomBody &object, ::Oyster::Math::Float4 &worldPointOfContact ) const;
 
+		void SetTimeOfContact( ::Oyster::Math::Float4 &worldPointOfContact );
+
 		::Oyster::Collision3D::Sphere &	GetBoundingSphere( ::Oyster::Collision3D::Sphere &targetMem = ::Oyster::Collision3D::Sphere() ) const;
 		::Oyster::Math::Float4 &		GetNormalAt( const ::Oyster::Math::Float4 &worldPos, ::Oyster::Math::Float4 &targetMem = ::Oyster::Math::Float4() ) const;
 		::Oyster::Math::Float3 &		GetGravityNormal( ::Oyster::Math::Float3 &targetMem = ::Oyster::Math::Float3() ) const;
@@ -66,6 +68,13 @@ namespace Oyster { namespace Physics
 		::Oyster::Physics3D::RigidBody rigid;
 		::Oyster::Math::Float4 deltaPos, deltaAxis;
 		::Oyster::Math::Float3 gravityNormal;
+
+		struct
+		{
+			struct { ::Oyster::Math::Float3 center, axis, reach; } previousSpatial;
+			::Oyster::Math::Float timeOfContact;
+		} collisionRebound;
+
 		EventAction_BeforeCollisionResponse onCollision;
 		EventAction_AfterCollisionResponse onCollisionResponse;
 		EventAction_Move onMovement;

Code/GamePhysics/PhysicsAPI.h

@@ -322,6 +322,11 @@ namespace Oyster
 			 ********************************************************/
 			virtual bool Intersects( const ICustomBody &object, ::Oyster::Math::Float4 &worldPointOfContact ) const = 0;
 
+			/********************************************************
+			 * Sets how far back it needs to be interpolated to not be overlapping worldPointOfContact.
+			 ********************************************************/
+			virtual void SetTimeOfContact( ::Oyster::Math::Float4 &worldPointOfContact ) = 0;
+
 			/********************************************************
 			 * Required by Engine's Collision Search.
 			 * @param targetMem: Provided memory that written into and then returned.

Code/GamePhysics/PhysicsStructs-Impl.h

@@ -12,7 +12,7 @@ namespace Oyster
 		{
 			inline SimpleBodyDescription::SimpleBodyDescription()
 			{
-				this->rotation = ::Oyster::Math::Float4x4::identity;
+				this->rotation = ::Oyster::Math::Float3::null;
 				this->centerPosition = ::Oyster::Math::Float3::null;
 				this->size = ::Oyster::Math::Float3( 1.0f );
 				this->mass = 6.0f;
@@ -28,7 +28,7 @@ namespace Oyster
 
 			inline SphericalBodyDescription::SphericalBodyDescription()
 			{
-				this->rotation = ::Oyster::Math::Float4x4::identity;
+				this->rotation = ::Oyster::Math::Float3::null;
 				this->centerPosition = ::Oyster::Math::Float3::null;
 				this->radius = 0.5f;
 				this->mass = 10.0f;

Code/GamePhysics/PhysicsStructs.h

@@ -11,7 +11,7 @@ namespace Oyster { namespace Physics
 	{
 		struct SimpleBodyDescription
 		{
-			::Oyster::Math::Float4x4 rotation;
+			::Oyster::Math::Float3 rotation;
 			::Oyster::Math::Float3 centerPosition;
 			::Oyster::Math::Float3 size;
 			::Oyster::Math::Float mass;
@@ -29,7 +29,7 @@ namespace Oyster { namespace Physics
 
 		struct SphericalBodyDescription
 		{
-			::Oyster::Math::Float4x4 rotation;
+			::Oyster::Math::Float3 rotation;
 			::Oyster::Math::Float3 centerPosition;
 			::Oyster::Math::Float radius;
 			::Oyster::Math::Float mass;

Code/Misc/Utilities.h

@@ -315,6 +315,14 @@ namespace Utility
 	{
 		using ::std::numeric_limits;
 
+		template<typename ValueType>
+		inline bool Within( const ValueType &value, const ValueType &lower, const ValueType &upper )
+		{
+			if( value < lower ) return false;
+			if( value > upper ) return false;
+			return true;
+		}
+
 		template<typename ValueType>
 		inline ValueType Abs( const ValueType &value )
 		{ return value < 0 ? value * -1 : value; }

Code/OysterMath/LinearMath.h

@@ -11,27 +11,6 @@
 #include "Quaternion.h"
 #include <math.h>
 
-namespace std
-{
-	template<typename ScalarType>
-	inline ::LinearAlgebra::Vector2<ScalarType> asin( const ::LinearAlgebra::Vector2<ScalarType> &vec )
-	{
-		return ::LinearAlgebra::Vector2<ScalarType>( asin(vec.x), asin(vec.y) );
-	}
-
-	template<typename ScalarType>
-	inline ::LinearAlgebra::Vector3<ScalarType> asin( const ::LinearAlgebra::Vector3<ScalarType> &vec )
-	{
-		return ::LinearAlgebra::Vector3<ScalarType>( asin(vec.x), asin(vec.y), asin(vec.z) );
-	}
-
-	template<typename ScalarType>
-	inline ::LinearAlgebra::Vector4<ScalarType> asin( const ::LinearAlgebra::Vector4<ScalarType> &vec )
-	{
-		return ::LinearAlgebra::Vector4<ScalarType>( asin(vec.x), asin(vec.y), asin(vec.z), asin(vec.w) );
-	}
-}
-
 // x2
 
 template<typename ScalarType>
@@ -112,6 +91,69 @@ inline ::LinearAlgebra::Vector4<ScalarType> operator * ( const ::LinearAlgebra::
 												 (vector.x * matrix.m14) + (vector.y * matrix.m24) + (vector.z * matrix.m34) + (vector.w * matrix.m44) );
 }
 
+namespace std
+{
+	template<typename ScalarType>
+	inline ::LinearAlgebra::Vector2<ScalarType> asin( const ::LinearAlgebra::Vector2<ScalarType> &vec )
+	{
+		return ::LinearAlgebra::Vector2<ScalarType>( asin(vec.x), asin(vec.y) );
+	}
+
+	template<typename ScalarType>
+	inline ::LinearAlgebra::Vector3<ScalarType> asin( const ::LinearAlgebra::Vector3<ScalarType> &vec )
+	{
+		return ::LinearAlgebra::Vector3<ScalarType>( asin(vec.x), asin(vec.y), asin(vec.z) );
+	}
+
+	template<typename ScalarType>
+	inline ::LinearAlgebra::Vector4<ScalarType> asin( const ::LinearAlgebra::Vector4<ScalarType> &vec )
+	{
+		return ::LinearAlgebra::Vector4<ScalarType>( asin(vec.x), asin(vec.y), asin(vec.z), asin(vec.w) );
+	}
+
+	/*******************************************************************
+	 * @param numerator of the vector vec
+	 * @return the denomiator of the vector vec.
+	 *******************************************************************/
+	template<typename ScalarType>
+	inline ::LinearAlgebra::Vector2<ScalarType> modf( const ::LinearAlgebra::Vector2<ScalarType> &vec, ::LinearAlgebra::Vector2<ScalarType> &numerator )
+	{
+		::LinearAlgebra::Vector2<ScalarType> denominator;
+		denominator.x = (ScalarType)modf( vec.x, &numerator.x );
+		denominator.y = (ScalarType)modf( vec.y, &numerator.y );
+		return denominator;
+	}
+
+	/*******************************************************************
+	 * @param numerator of the vector vec
+	 * @return the denomiator of the vector vec.
+	 *******************************************************************/
+	template<typename ScalarType>
+	inline ::LinearAlgebra::Vector3<ScalarType> modf( const ::LinearAlgebra::Vector3<ScalarType> &vec, ::LinearAlgebra::Vector3<ScalarType> &numerator )
+	{
+		::LinearAlgebra::Vector3<ScalarType> denominator;
+		denominator.x = (ScalarType)modf( vec.x, &numerator.x );
+		denominator.y = (ScalarType)modf( vec.y, &numerator.y );
+		denominator.z = (ScalarType)modf( vec.z, &numerator.z );
+		return denominator;
+	}
+
+	/*******************************************************************
+	 * @param numerator of the vector vec
+	 * @return the denomiator of the vector vec.
+	 *******************************************************************/
+	template<typename ScalarType>
+	inline ::LinearAlgebra::Vector4<ScalarType> modf( const ::LinearAlgebra::Vector4<ScalarType> &vec, ::LinearAlgebra::Vector4<ScalarType> &numerator )
+	{
+		::LinearAlgebra::Vector4<ScalarType> denominator;
+		denominator.x = (ScalarType)modf( vec.x, &numerator.x );
+		denominator.y = (ScalarType)modf( vec.y, &numerator.y );
+		denominator.z = (ScalarType)modf( vec.z, &numerator.z );
+		denominator.w = (ScalarType)modf( vec.w, &numerator.w );
+		return denominator;
+	}
+}
+
 namespace LinearAlgebra
 {
 	// Creates a solution matrix for 'out´= 'targetMem' * 'in'.
@@ -795,11 +837,42 @@ namespace LinearAlgebra3D
 	}
 
 	template<typename ScalarType>
-	::LinearAlgebra::Matrix4x4<ScalarType> & InterpolateOrientation_UsingNonRigidNlerp( const ::LinearAlgebra::Matrix4x4<ScalarType> &start, const ::LinearAlgebra::Matrix4x4<ScalarType> &end, ScalarType t, ::LinearAlgebra::Matrix4x4<ScalarType> &targetMem )
+	inline ::LinearAlgebra::Matrix4x4<ScalarType> & InterpolateRotation_UsingNonRigidNlerp( const ::LinearAlgebra::Matrix4x4<ScalarType> &start, const ::LinearAlgebra::Matrix4x4<ScalarType> &end, ScalarType t, ::LinearAlgebra::Matrix4x4<ScalarType> &targetMem )
 	{
 		targetMem.v[0] = ::LinearAlgebra::Nlerp( start.v[0], end.v[0], t );
 		targetMem.v[1] = ::LinearAlgebra::Nlerp( start.v[1], end.v[1], t );
 		targetMem.v[2] = ::LinearAlgebra::Nlerp( start.v[2], end.v[2], t );
+		return targetMem;
+	}
+
+	template<typename ScalarType>
+	inline ::LinearAlgebra::Matrix4x4<ScalarType> & InterpolateOrientation_UsingNonRigidNlerp( const ::LinearAlgebra::Matrix4x4<ScalarType> &start, const ::LinearAlgebra::Matrix4x4<ScalarType> &end, ScalarType t, ::LinearAlgebra::Matrix4x4<ScalarType> &targetMem )
+	{
+		InterpolateRotation_UsingNonRigidNlerp( start, end, t, targetMem );
+		targetMem.v[3] = ::LinearAlgebra::Lerp( start.v[3], end.v[3], t );
+		return targetMem;
+	}
+
+	template<typename ScalarType>
+	::LinearAlgebra::Matrix4x4<ScalarType> & InterpolateRotation_UsingRigidNlerp( const ::LinearAlgebra::Matrix4x4<ScalarType> &start, const ::LinearAlgebra::Matrix4x4<ScalarType> &end, ScalarType t, ::LinearAlgebra::Matrix4x4<ScalarType> &targetMem )
+	{
+		// Nlerp y axis
+		targetMem.v[1] = ::LinearAlgebra::Nlerp( start.v[1], end.v[1], t );
+		
+		// Lerp z axis and orthogonolize against y axis
+		targetMem.v[2] = ::LinearAlgebra::Lerp( start.v[2], end.v[2], t );
+		targetMem.v[2] -= targetMem.v[2].Dot(targetMem.v[1]) * targetMem.v[1];
+		targetMem.v[2].Normalize();
+
+		// Cross product x axis from y and z
+		targetMem.v[0].xyz = targetMem.v[1].xyz.Cross(targetMem.v[2].xyz);
+		return targetMem;
+	}
+
+	template<typename ScalarType>
+	inline ::LinearAlgebra::Matrix4x4<ScalarType> & InterpolateOrientation_UsingRigidNlerp( const ::LinearAlgebra::Matrix4x4<ScalarType> &start, const ::LinearAlgebra::Matrix4x4<ScalarType> &end, ScalarType t, ::LinearAlgebra::Matrix4x4<ScalarType> &targetMem )
+	{
+		InterpolateRotation_UsingRigidNlerp( start, end, t, targetMem );
 		targetMem.v[3] = ::LinearAlgebra::Lerp( start.v[3], end.v[3], t );
 		return targetMem;
 	}

Code/OysterMath/OysterMath.h

@@ -322,7 +322,10 @@ namespace Oyster { namespace Math3D //! Oyster's native math library specialized
 
 	using ::LinearAlgebra3D::SnapAxisYToNormal_UsingNlerp;
 	using ::LinearAlgebra3D::InterpolateAxisYToNormal_UsingNlerp;
+	using ::LinearAlgebra3D::InterpolateRotation_UsingNonRigidNlerp;
+	using ::LinearAlgebra3D::InterpolateRotation_UsingRigidNlerp;
 	using ::LinearAlgebra3D::InterpolateOrientation_UsingNonRigidNlerp;
+	using ::LinearAlgebra3D::InterpolateOrientation_UsingRigidNlerp;
 	using ::LinearAlgebra3D::InterpolateOrientation_UsingSlerp;
 	using ::LinearAlgebra3D::SnapAngularAxis;
 } }

Code/OysterPhysics3D/Box.cpp

@@ -93,3 +93,26 @@ bool Box::Contains( const ICollideable &target ) const
 	default: return false;
 	}
 }
+
+Float Box::TimeOfContact( const ICollideable &deuterStart, const ICollideable &deuterEnd ) const
+{
+	if( deuterStart.type != deuterEnd.type )
+		return -1.0f;
+
+	switch( deuterStart.type )
+	{ // TODO: more to implement
+	case Type_universe:			return 0.0f;
+	default:					return 1.0f;
+	}
+}
+
+namespace Oyster { namespace Math
+{
+	Box & Nlerp( const Box &start, const Box &end, Float t, Box &targetMem )
+	{
+		InterpolateRotation_UsingRigidNlerp( start.rotation, end.rotation, t, targetMem.rotation );
+		targetMem.center = Lerp( start.center, end.center, t );
+		targetMem.boundingOffset = Lerp( start.boundingOffset, end.boundingOffset, t );
+		return targetMem;
+	}
+} }

Code/OysterPhysics3D/Box.h

@@ -9,7 +9,9 @@
 #include "OysterMath.h"
 #include "ICollideable.h"
 
-namespace Oyster { namespace Collision3D
+namespace Oyster
+{
+	namespace Collision3D
 	{
 		class Box : public ICollideable
 		{
@@ -37,7 +39,18 @@ namespace Oyster { namespace Collision3D
 			bool Intersects( const ICollideable &target ) const;
 			bool Intersects( const ICollideable &target, ::Oyster::Math::Float4 &worldPointOfContact ) const;
 			bool Contains( const ICollideable &target ) const;
+
+			::Oyster::Math::Float TimeOfContact( const ICollideable &deuterStart, const ICollideable &deuterEnd ) const;
 		};
-} }
+	}
+
+	namespace Math
+	{
+		/********************************************************************
+		 * Normalized Linear Interpolation
+		 ********************************************************************/
+		::Oyster::Collision3D::Box & Nlerp( const ::Oyster::Collision3D::Box &start, const ::Oyster::Collision3D::Box &end, ::Oyster::Math::Float t, ::Oyster::Collision3D::Box &targetMem = ::Oyster::Collision3D::Box() );
+	}
+}
 
 #endif

Code/OysterPhysics3D/BoxAxisAligned.cpp

@@ -77,3 +77,15 @@ bool BoxAxisAligned::Contains( const ICollideable &target ) const
 	//}
 	return false;
 }
+
+Float BoxAxisAligned::TimeOfContact( const ICollideable &deuterStart, const ICollideable &deuterEnd ) const
+{
+	if( deuterStart.type != deuterEnd.type )
+		return -1.0f;
+
+	switch( deuterStart.type )
+	{ // TODO: more to implement
+	case Type_universe:			return 0.0f;
+	default:					return 1.0f;
+	}
+}

Code/OysterPhysics3D/BoxAxisAligned.h

@@ -31,6 +31,8 @@ namespace Oyster { namespace Collision3D
 		bool Intersects( const ICollideable &target ) const;
 		bool Intersects( const ICollideable &target, ::Oyster::Math::Float4 &worldPointOfContact ) const;
 		bool Contains( const ICollideable &target ) const;
+
+		::Oyster::Math::Float TimeOfContact( const ICollideable &deuterStart, const ICollideable &deuterEnd ) const;
 	};
 } }
 

Code/OysterPhysics3D/Frustrum.cpp

@@ -243,6 +243,18 @@ bool Frustrum::Contains( const ICollideable &target ) const
 	}
 }
 
+Float Frustrum::TimeOfContact( const ICollideable &deuterStart, const ICollideable &deuterEnd ) const
+{
+	if( deuterStart.type != deuterEnd.type )
+		return -1.0f;
+
+	switch( deuterStart.type )
+	{ // TODO: more to implement
+	case Type_universe:			return 0.0f;
+	default:					return 1.0f;
+	}
+}
+
 ::Oyster::Math::Float3 Frustrum::ExtractForwad()
 {
 	return this->bottomPlane.normal.xyz;

Code/OysterPhysics3D/Frustrum.h

@@ -42,6 +42,8 @@ namespace Oyster { namespace Collision3D
 		bool Intersects( const ICollideable &target, Oyster::Math::Float4 &worldPointOfContact ) const;
 		bool Contains( const ICollideable &target ) const;
 
+		::Oyster::Math::Float TimeOfContact( const ICollideable &deuterStart, const ICollideable &deuterEnd ) const;
+
 		::Oyster::Math::Float3 ExtractForwad();
 	};
 

Code/OysterPhysics3D/ICollideable.h

@@ -38,6 +38,8 @@ namespace Oyster { namespace Collision3D //! Contains a collection of 3D shapes
 		virtual bool Intersects( const ICollideable &target, ::Oyster::Math::Float4 &worldPointOfContact ) const = 0;
 		virtual bool Intersects( const ICollideable &target ) const = 0;
 		virtual bool Contains( const ICollideable &target ) const = 0;
+
+		virtual ::Oyster::Math::Float TimeOfContact( const ICollideable &deuterStart, const ICollideable &deuterEnd ) const = 0;
 	};
 } }
 #endif

Code/OysterPhysics3D/Line.cpp

@@ -76,3 +76,15 @@ bool Line::Intersects( const ICollideable &target, Float4 &worldPointOfContact )
 
 bool Line::Contains( const ICollideable &target ) const
 { /* TODO: : */ return false; }
+
+Float Line::TimeOfContact( const ICollideable &deuterStart, const ICollideable &deuterEnd ) const
+{
+	if( deuterStart.type != deuterEnd.type )
+		return -1.0f;
+
+	switch( deuterStart.type )
+	{ // TODO: more to implement
+	case Type_universe:			return 0.0f;
+	default:					return 1.0f;
+	}
+}

Code/OysterPhysics3D/Line.h

@@ -32,6 +32,8 @@ namespace Oyster { namespace Collision3D
 		bool Intersects( const ICollideable &target ) const;
 		bool Intersects( const ICollideable &target, ::Oyster::Math::Float4 &worldPointOfContact ) const;
 		bool Contains( const ICollideable &target ) const;
+
+		::Oyster::Math::Float TimeOfContact( const ICollideable &deuterStart, const ICollideable &deuterEnd ) const;
 	};
 } }
 

Code/OysterPhysics3D/OysterCollision3D.cpp

@@ -1061,4 +1061,43 @@ namespace Oyster { namespace Collision3D { namespace Utility
 			return container.normal == -plane.normal;
 		return false;
 	}
+
+	Float TimeOfContact( const Sphere &protoStart, const Sphere &protoEnd, const Point &deuter )
+	{ // Bisection with 5 levels of detail
+		Float t = 0.5f;
+		Sphere s;
+		for( int i = 0; i < 5; ++i )
+		{
+			Nlerp( protoStart, protoEnd, t, s );
+			if( Intersect(s, deuter) )
+			{
+				t *= 0.5f;
+			}
+			else
+			{
+				t *= 1.5f;
+			}
+		}
+		return t;
+	}
+
+	Float TimeOfContact( const Box &protoStart, const Box &protoEnd, const Point &deuter )
+	{ // Bisection with 5 levels of detail
+		Float t = 0.5f;
+		Box b;
+		for( int i = 0; i < 5; ++i )
+		{
+			Nlerp( protoStart, protoEnd, t, b );
+			if( Intersect(b, deuter) )
+			{
+				t *= 0.5f;
+			}
+			else
+			{
+				t *= 1.5f;
+			}
+		}
+		return t;
+	}
+
 } } }

Code/OysterPhysics3D/OysterCollision3D.h

@@ -121,6 +121,9 @@ namespace Oyster { namespace Collision3D { namespace Utility
 //	bool Contains( const Frustrum &container, const BoxAxisAligned &box );
 //	bool Contains( const Frustrum &container, const Box &box );
 //	bool Contains( const Frustrum &container, const Frustrum &frustrum );
+
+	::Oyster::Math::Float TimeOfContact( const Sphere &protoStart, const Sphere &protoEnd, const Point &deuter );
+	::Oyster::Math::Float TimeOfContact( const Box &protoStart, const Box &protoEnd, const Point &deuter );
 } } }
 
 #endif

Code/OysterPhysics3D/OysterPhysics3D.vcxproj.filters

@@ -27,9 +27,6 @@
     </Filter>
   </ItemGroup>
   <ItemGroup>
-    <ClInclude Include="Universe.h">
-      <Filter>Header Files\Collision</Filter>
-    </ClInclude>
     <ClInclude Include="Box.h">
       <Filter>Header Files\Collision</Filter>
     </ClInclude>
@@ -81,6 +78,9 @@
     <ClInclude Include="Inertia.h">
       <Filter>Header Files\Physics</Filter>
     </ClInclude>
+    <ClInclude Include="Universe.h">
+      <Filter>Header Files\Collision</Filter>
+    </ClInclude>
   </ItemGroup>
   <ItemGroup>
     <ClCompile Include="Box.cpp">

Code/OysterPhysics3D/Plane.cpp

@@ -84,3 +84,15 @@ bool Plane::Contains( const ICollideable &target ) const
 	default:				return false;
 	}
 }
+
+Float Plane::TimeOfContact( const ICollideable &deuterStart, const ICollideable &deuterEnd ) const
+{
+	if( deuterStart.type != deuterEnd.type )
+		return -1.0f;
+
+	switch( deuterStart.type )
+	{ // TODO: more to implement
+	case Type_universe:			return 0.0f;
+	default:					return 1.0f;
+	}
+}

Code/OysterPhysics3D/Plane.h

@@ -31,6 +31,8 @@ namespace Oyster { namespace Collision3D
 		bool Intersects( const ICollideable &target ) const;
 		bool Intersects( const ICollideable &target, ::Oyster::Math::Float4 &worldPointOfContact ) const;
 		bool Contains( const ICollideable &target ) const;
+
+		::Oyster::Math::Float TimeOfContact( const ICollideable &deuterStart, const ICollideable &deuterEnd ) const;
 	};
 } }
 

Code/OysterPhysics3D/Point.cpp

@@ -82,3 +82,17 @@ bool Point::Contains( const ICollideable &target ) const
 	default:					return false;
 	}
 }
+
+Float Point::TimeOfContact( const ICollideable &deuterStart, const ICollideable &deuterEnd ) const
+{
+	if( deuterStart.type != deuterEnd.type )
+		return -1.0f;
+
+	switch( deuterStart.type )
+	{ // TODO: more to implement
+	case Type_sphere:			return Utility::TimeOfContact( (const Sphere&)deuterStart, (const Sphere&)deuterEnd, *this );
+	case Type_box:				return Utility::TimeOfContact( (const Box&)deuterStart, (const Box&)deuterEnd, *this );
+	case Type_universe:			return 0.0f;
+	default:					return 1.0f;
+	}
+}

Code/OysterPhysics3D/Point.h

@@ -31,6 +31,8 @@ namespace Oyster { namespace Collision3D
 		bool Intersects( const ICollideable &target ) const;
 		bool Intersects( const ICollideable &target, ::Oyster::Math::Float4 &worldPointOfContact ) const;
 		bool Contains( const ICollideable &target ) const;
+
+		::Oyster::Math::Float TimeOfContact( const ICollideable &deuterStart, const ICollideable &deuterEnd ) const;
 	};
 } }
 

Code/OysterPhysics3D/Ray.cpp

@@ -93,3 +93,15 @@ bool Ray::Contains( const ICollideable &target ) const
 	default:					return false;
 	}
 }
+
+Float Ray::TimeOfContact( const ICollideable &deuterStart, const ICollideable &deuterEnd ) const
+{
+	if( deuterStart.type != deuterEnd.type )
+		return -1.0f;
+
+	switch( deuterStart.type )
+	{ // TODO: more to implement
+	case Type_universe:			return 0.0f;
+	default:					return 1.0f;
+	}
+}

Code/OysterPhysics3D/Ray.h

@@ -39,6 +39,8 @@ namespace Oyster { namespace Collision3D
 		bool Intersects( const ICollideable &target ) const;
 		bool Intersects( const ICollideable &target, ::Oyster::Math::Float4 &worldPointOfContact ) const;
 		bool Contains( const ICollideable &target ) const;
+
+		::Oyster::Math::Float TimeOfContact( const ICollideable &deuterStart, const ICollideable &deuterEnd ) const;
 	};
 } }
 

Code/OysterPhysics3D/RigidBody.cpp

@@ -49,13 +49,13 @@ void RigidBody::Update_LeapFrog( Float updateFrameLength )
 { // by Dan Andersson: Euler leap frog update when Runga Kutta is not needed
 	
 	// updating the linear
+	//Decrease momentum with 1% as "fall-off"
+	//! HACK: @todo Add real solution with fluid drag
+	this->momentum_Linear = this->momentum_Linear*0.99f;
+	this->momentum_Angular = this->momentum_Angular*0.99f;
+
 	// ds = dt * Formula::LinearVelocity( m, avg_G ) = dt * avg_G / m = (dt / m) * avg_G
-	Float3 deltaPos = ( updateFrameLength / this->mass ) * AverageWithDelta( this->momentum_Linear, this->impulse_Linear );
+	this->centerPos += ( updateFrameLength / this->mass ) * AverageWithDelta( this->momentum_Linear, this->impulse_Linear );
-	if( deltaPos.GetLength() < 0.001f )
-	{
-		deltaPos = Float3::null;
-	}
-	this->centerPos += deltaPos;
 	
 	// updating the angular
 	// dO = dt * Formula::AngularVelocity( (RI)^-1, avg_H ) = dt * (RI)^-1 * avg_H	
@@ -181,6 +181,12 @@ void RigidBody::SetMass_KeepMomentum( const Float &m )
 	}
 }
 
+void RigidBody::SetRotation( const Float3 &axis )
+{ // by Dan Andersson
+	this->axis = axis;
+	this->rotation = Rotation( this->axis );
+}
+
 void RigidBody::SetMomentum_Linear( const Float3 &worldG, const Float3 &atWorldPos )
 { // by Dan Andersson
 	Float3 worldOffset = atWorldPos - this->centerPos;

Code/OysterPhysics3D/RigidBody.h

@@ -64,7 +64,7 @@ namespace Oyster { namespace Physics3D
 		void SetMass_KeepMomentum( const ::Oyster::Math::Float &m );
 
 		//void SetOrientation( const ::Oyster::Math::Float4x4 &o );
-		//void SetRotation( const ::Oyster::Math::Float4x4 &r );
+		void SetRotation( const ::Oyster::Math::Float3 &axis );
 		void SetSize( const ::Oyster::Math::Float3 &widthHeight );
 
 		void SetMomentum_Linear( const ::Oyster::Math::Float3 &worldG, const ::Oyster::Math::Float3 &atWorldPos );

Code/OysterPhysics3D/Sphere.cpp

@@ -87,3 +87,29 @@ bool Sphere::Contains( const ICollideable &target ) const
 	default:					return false;
 	}
 }
+
+Float Sphere::TimeOfContact( const ICollideable &deuterStart, const ICollideable &deuterEnd ) const
+{
+	if( deuterStart.type != deuterEnd.type )
+		return -1.0f;
+
+	switch( deuterStart.type )
+	{
+	//case Type_point:			// not implemented
+	//case Type_sphere:			// not implemented
+	//case Type_box:			// not implemented
+	case Type_universe:			return 0.0f;
+	default:					return 1.0f;
+	}
+}
+
+namespace Oyster { namespace Math
+{
+	Sphere & Nlerp( const Sphere &start, const Sphere &end, Float t, Sphere &targetMem )
+	{
+		Float4 i = Lerp( Float4(start.center.xyz, start.radius), Float4(end.center.xyz, end.radius), t );
+		targetMem.center.xyz = i.xyz;
+		targetMem.radius = i.w;
+		return targetMem;
+	}
+} }

Code/OysterPhysics3D/Sphere.h

@@ -9,7 +9,9 @@
 #include "OysterMath.h"
 #include "ICollideable.h"
 
-namespace Oyster { namespace Collision3D
+namespace Oyster
+{
+	namespace Collision3D
 	{
 		class Sphere : public ICollideable
 		{
@@ -31,7 +33,18 @@ namespace Oyster { namespace Collision3D
 			bool Intersects( const ICollideable &target ) const;
 			bool Intersects( const ICollideable &target, ::Oyster::Math::Float4 &worldPointOfContact ) const;
 			bool Contains( const ICollideable &target ) const;
+
+			::Oyster::Math::Float TimeOfContact( const ICollideable &deuterStart, const ICollideable &deuterEnd ) const;
 		};
-} }
+	}
+
+	namespace Math
+	{
+		/********************************************************************
+		 * Normalized Linear Interpolation
+		 ********************************************************************/
+		::Oyster::Collision3D::Sphere & Nlerp( const ::Oyster::Collision3D::Sphere &start, const ::Oyster::Collision3D::Sphere &end, ::Oyster::Math::Float t, ::Oyster::Collision3D::Sphere &targetMem = ::Oyster::Collision3D::Sphere() );
+	}
+}
 
 #endif

Code/OysterPhysics3D/Universe.cpp

@@ -79,3 +79,8 @@ bool Universe::Contains( const ICollideable &target ) const
 { // universe contains everything
 	return true;
 }
+
+Float Universe::TimeOfContact( const ICollideable &deuterStart, const ICollideable &deuterEnd ) const
+{
+	return 0.0f;
+}

Code/OysterPhysics3D/Universe.h

@@ -23,6 +23,8 @@ namespace Oyster { namespace Collision3D
 		bool Intersects( const ICollideable &target ) const;
 		bool Intersects( const ICollideable &target, ::Oyster::Math::Float4 &worldPointOfContact ) const;
 		bool Contains( const ICollideable &target ) const;
+
+		::Oyster::Math::Float TimeOfContact( const ICollideable &deuterStart, const ICollideable &deuterEnd ) const;
 	};
 } }