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

This commit is contained in:
lanariel 2013-11-26 13:43:33 +01:00
parent f3be9f03a3 62b1c68479
commit c2484a363d
34 changed files with 996 additions and 403 deletions
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19
Code/GamePhysics/GamePhysics.vcxproj
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@ -24,7 +24,7 @@
</PropertyGroup>
<Import Project="$(VCTargetsPath)\Microsoft.Cpp.Default.props" />
<PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Debug|Win32'" Label="Configuration">
<ConfigurationType>StaticLibrary</ConfigurationType>
<ConfigurationType>DynamicLibrary</ConfigurationType>
<UseDebugLibraries>true</UseDebugLibraries>
<PlatformToolset>v110</PlatformToolset>
<CharacterSet>MultiByte</CharacterSet>
@ -66,22 +66,22 @@
</ImportGroup>
<PropertyGroup Label="UserMacros" />
<PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Debug|Win32'">
<OutDir>$(SolutionDir)..\External\Bin\DLL\</OutDir>
<OutDir>$(SolutionDir)..\Bin\DLL\</OutDir>
<IntDir>$(SolutionDir)..\Obj\$(ProjectName)\$(PlatformShortName)\$(Configuration)\</IntDir>
<TargetName>$(ProjectName)_$(PlatformShortName)D</TargetName>
</PropertyGroup>
<PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Release|Win32'">
<OutDir>$(SolutionDir)..\External\Bin\DLL\</OutDir>
<OutDir>$(SolutionDir)..\Bin\DLL\</OutDir>
<IntDir>$(SolutionDir)..\Obj\$(ProjectName)\$(PlatformShortName)\$(Configuration)\</IntDir>
<TargetName>$(ProjectName)_$(PlatformShortName)</TargetName>
</PropertyGroup>
<PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Debug|x64'">
<OutDir>$(SolutionDir)..\External\Bin\DLL\</OutDir>
<OutDir>$(SolutionDir)..\Bin\DLL\</OutDir>
<IntDir>$(SolutionDir)..\Obj\$(ProjectName)\$(PlatformShortName)\$(Configuration)\</IntDir>
<TargetName>$(ProjectName)_$(PlatformShortName)D</TargetName>
</PropertyGroup>
<PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Release|x64'">
<OutDir>$(SolutionDir)..\External\Bin\DLL\</OutDir>
<OutDir>$(SolutionDir)..\Bin\DLL\</OutDir>
<IntDir>$(SolutionDir)..\Obj\$(ProjectName)\$(PlatformShortName)\$(Configuration)\</IntDir>
<TargetName>$(ProjectName)_$(PlatformShortName)</TargetName>
</PropertyGroup>
@ -90,6 +90,7 @@
<WarningLevel>Level3</WarningLevel>
<Optimization>Disabled</Optimization>
<AdditionalIncludeDirectories>$(SolutionDir)Misc;$(SolutionDir)OysterMath;$(SolutionDir)OysterPhysics3D;%(AdditionalIncludeDirectories)</AdditionalIncludeDirectories>
<PreprocessorDefinitions>_WINDLL;PHYSICS_DLL_EXPORT;%(PreprocessorDefinitions)</PreprocessorDefinitions>
</ClCompile>
<Link>
<GenerateDebugInformation>true</GenerateDebugInformation>
@ -100,6 +101,7 @@
<WarningLevel>Level3</WarningLevel>
<Optimization>Disabled</Optimization>
<AdditionalIncludeDirectories>$(SolutionDir)Misc;$(SolutionDir)OysterMath;$(SolutionDir)OysterPhysics3D;%(AdditionalIncludeDirectories)</AdditionalIncludeDirectories>
<PreprocessorDefinitions>_WINDLL;PHYSICS_DLL_EXPORT;%(PreprocessorDefinitions)</PreprocessorDefinitions>
</ClCompile>
<Link>
<GenerateDebugInformation>true</GenerateDebugInformation>
@ -112,6 +114,7 @@
<FunctionLevelLinking>true</FunctionLevelLinking>
<IntrinsicFunctions>true</IntrinsicFunctions>
<AdditionalIncludeDirectories>$(SolutionDir)Misc;$(SolutionDir)OysterMath;$(SolutionDir)OysterPhysics3D;%(AdditionalIncludeDirectories)</AdditionalIncludeDirectories>
<PreprocessorDefinitions>_WINDLL;PHYSICS_DLL_EXPORT;%(PreprocessorDefinitions)</PreprocessorDefinitions>
</ClCompile>
<Link>
<GenerateDebugInformation>true</GenerateDebugInformation>
@ -126,6 +129,7 @@
<FunctionLevelLinking>true</FunctionLevelLinking>
<IntrinsicFunctions>true</IntrinsicFunctions>
<AdditionalIncludeDirectories>$(SolutionDir)Misc;$(SolutionDir)OysterMath;$(SolutionDir)OysterPhysics3D;%(AdditionalIncludeDirectories)</AdditionalIncludeDirectories>
<PreprocessorDefinitions>_WINDLL;PHYSICS_DLL_EXPORT;%(PreprocessorDefinitions)</PreprocessorDefinitions>
</ClCompile>
<Link>
<GenerateDebugInformation>true</GenerateDebugInformation>
@ -145,14 +149,17 @@
</ProjectReference>
</ItemGroup>
<ItemGroup>
<ClInclude Include="Implementation\Octree.h" />
<ClInclude Include="Implementation\PhysicsAPI_Impl.h" />
<ClInclude Include="Implementation\SimpleRigidBody.h" />
<ClInclude Include="Implementation\SphericalRigidBody.h" />
<ClInclude Include="PhysicsAPI.h" />
</ItemGroup>
<ItemGroup>
<ClCompile Include="Implementation\NullBody.cpp" />
<ClCompile Include="Implementation\DLLMain.cpp" />
<ClCompile Include="Implementation\PhysicsAPI_Impl.cpp" />
<ClCompile Include="Implementation\SimpleRigidBody.cpp" />
<ClCompile Include="Implementation\SphericalRigidBody.cpp" />
</ItemGroup>
<Import Project="$(VCTargetsPath)\Microsoft.Cpp.targets" />
<ImportGroup Label="ExtensionTargets">

8
Code/GamePhysics/GamePhysics.vcxproj.filters
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@ -30,6 +30,9 @@
<ClInclude Include="Implementation\SimpleRigidBody.h">
<Filter>Header Files\Implementation</Filter>
</ClInclude>
<ClInclude Include="Implementation\SphericalRigidBody.h">
<Filter>Header Files\Implementation</Filter>
</ClInclude>
</ItemGroup>
<ItemGroup>
<ClCompile Include="Implementation\PhysicsAPI_Impl.cpp">
@ -38,7 +41,10 @@
<ClCompile Include="Implementation\SimpleRigidBody.cpp">
<Filter>Source Files</Filter>
</ClCompile>
<ClCompile Include="Implementation\NullBody.cpp">
<ClCompile Include="Implementation\DLLMain.cpp">
<Filter>Source Files</Filter>
</ClCompile>
<ClCompile Include="Implementation\SphericalRigidBody.cpp">
<Filter>Source Files</Filter>
</ClCompile>
</ItemGroup>

11
Code/GamePhysics/Implementation/DLLMain.cpp Normal file
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@ -0,0 +1,11 @@
#define NOMINMAX
#include <windows.h>
#include "OysterMath.h"
BOOL WINAPI DllMain( _In_ HINSTANCE hinstDLL,
_In_ DWORD fdwReason,
_In_ LPVOID lpvReserved )
{
return ::Oyster::Math::IsSupported();
}

83
Code/GamePhysics/Implementation/NullBody.cpp
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@ -1,83 +0,0 @@
#include "..\PhysicsAPI.h"
using namespace ::Oyster::Physics;
using namespace ::Oyster::Physics::Error;
using namespace ::Oyster::Math;
using namespace ::Oyster::Collision3D;
using namespace ::Utility::DynamicMemory;
NullBody::~NullBody() {}
UniquePointer<ICustomBody> NullBody::Clone() const
{
return new NullBody( *this );
}
bool NullBody::IsSubscribingCollisions() const
{
return false;
}
bool NullBody::Intersects( const ICustomBody &object, Float &deltaWhen, Float3 &worldPointOfContact ) const
{
return false;
}
bool NullBody::Intersects( const ICollideable &shape ) const
{
return false;
}
unsigned int NullBody::GetReference() const
{
return not_a_reference;
}
Sphere & NullBody::GetBoundingSphere( Sphere &targetMem ) const
{
return targetMem = Sphere( Float3::null, 0.0f );
}
Float3 & NullBody::GetNormalAt( const Float3 &worldPos, Float3 &targetMem ) const
{
return targetMem = Float3::standard_unit_z;
}
Float3 & NullBody::GetCenter( Float3 &targetMem ) const
{
return targetMem = Float3::null;
}
Float4x4 & NullBody::GetRotation( Float4x4 &targetMem ) const
{
return targetMem = Float4x4::identity;
}
Float4x4 & NullBody::GetOrientation( Float4x4 &targetMem ) const
{
return targetMem = Float4x4::identity;
}
Float4x4 & NullBody::GetView( Float4x4 &targetMem ) const
{
return targetMem = Float4x4::identity;
}
UpdateState NullBody::Update( Float timeStepLength )
{
return resting;
}
void NullBody::SetMomentOfInertiaTensor_KeepVelocity( const Float4x4 &localI ) {}
void NullBody::SetMomentOfInertiaTensor_KeepMomentum( const Float4x4 &localI ) {}
void NullBody::SetMass_KeepVelocity( Float m ) {}
void NullBody::SetMass_KeepMomentum( Float m ) {}
void NullBody::SetCenter( const Float3 &worldPos ) {}
void NullBody::SetRotation( const Float4x4 &rotation ) {}
void NullBody::SetOrientation( const Float4x4 &orientation ) {}

57
Code/GamePhysics/Implementation/Octree.h Normal file
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@ -0,0 +1,57 @@
#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:
struct Data
{
Data* prev;
Data* next;
Collision3D::Sphere container;
Utility::DynamicMemory::UniquePointer< ICustomBody > customBodyRef;
unsigned int queueRef;
};
struct OctreeNode
{
};
Octree(unsigned int bufferSize, unsigned char numLayers, Math::Float3 worldSize);
virtual ~Octree();
void AddObject(Utility::DynamicMemory::UniquePointer< ICustomBody > customBodyRef);
void MoveToUpdateQueue(Utility::DynamicMemory::UniquePointer< ICustomBody > customBodyRef);
void Update();
void DestroyObject(Utility::DynamicMemory::UniquePointer< ICustomBody > customBodyRef);
void Sample(Collision3D::ICollideable& collideable);
private:
std::vector < Data > leafData;
std::map< ICustomBody*, unsigned int > mapReferences;
};
}
}
#endif

104
Code/GamePhysics/Implementation/PhysicsAPI_Impl.cpp
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@ -1,43 +1,82 @@
#include "PhysicsAPI_Impl.h"
#include "SimpleRigidBody.h"
#include "OysterPhysics3D.h"
using namespace ::Oyster::Physics;
using namespace ::Oyster::Physics3D;
using namespace ::Oyster::Math;
using namespace ::Oyster::Collision3D;
using namespace ::Utility::DynamicMemory;
API_Impl instance;
API_Impl API_instance;
API & Instance()
// default API::EventAction_Collision
void defaultCollisionAction( const ICustomBody *proto, const ICustomBody *deuter )
{ /* do nothing */ }
// default API::EventAction_Destruction
void defaultDestructionAction( UniquePointer<ICustomBody> proto )
{ /* do nothing besides proto auto deleting itself. */ }
Float4x4 & MomentOfInertia::CreateSphereMatrix( const Float mass, const Float radius)
{
return instance;
return Formula::MomentOfInertia::Sphere(mass, radius);
}
Float4x4 & MomentOfInertia::CreateHollowSphereMatrix( const Float mass, const Float radius)
{
return Formula::MomentOfInertia::HollowSphere(mass, radius);
}
Float4x4 & MomentOfInertia::CreateCuboidMatrix( const Float mass, const Float height, const Float width, const Float depth )
{
return Formula::MomentOfInertia::Cuboid(mass, height, width, depth);
}
Float4x4 & MomentOfInertia::CreateCylinderMatrix( const Float mass, const Float height, const Float radius )
{
return Formula::MomentOfInertia::Cylinder(mass, height, radius);
}
Float4x4 & MomentOfInertia::CreateRodMatrix( const Float mass, const Float length )
{
return Formula::MomentOfInertia::RodCenter(mass, length);
}
API & API::Instance()
{
return API_instance;
}
API_Impl::API_Impl()
{
/** @todo TODO: Fix this constructor.*/
}
: gravityConstant( Constant::gravity_constant ),
updateFrameLength( 1.0f / 120.0f ),
collisionAction( defaultCollisionAction ),
destructionAction( defaultDestructionAction )
{}
API_Impl::~API_Impl()
API_Impl::~API_Impl() {}
void API_Impl::Init( unsigned int numObjects, unsigned int numGravityWells , const Float3 &worldSize )
{
/** @todo TODO: Fix this destructor.*/
//! @todo TODO: implement stub
}
void API_Impl::SetDeltaTime( float deltaTime )
{
/** @todo TODO: Fix this function.*/
updateFrameLength = deltaTime;
}
void API_Impl::SetGravityConstant( float g )
{
/** @todo TODO: Fix this function.*/
this->gravityConstant = g;
}
void API_Impl::SetAction( EventAction_Collision functionPointer )
void API_Impl::SetAction( API::EventAction_Collision functionPointer )
{
/** @todo TODO: Fix this function.*/
this->collisionAction = functionPointer;
}
void API_Impl::SetAction( EventAction_Destruction functionPointer )
void API_Impl::SetAction( API::EventAction_Destruction functionPointer )
{
/** @todo TODO: Fix this function.*/
this->destructionAction = functionPointer;
}
void API_Impl::Update()
@ -45,80 +84,83 @@ void API_Impl::Update()
/** @todo TODO: Fix this function.*/
}
bool API_Impl::IsInLimbo( unsigned int objRef )
bool API_Impl::IsInLimbo( const ICustomBody* objRef )
{
//! @todo TODO: implement stub
return true;
}
void API_Impl::MoveToLimbo( unsigned int objRef )
void API_Impl::MoveToLimbo( const ICustomBody* objRef )
{
/** @todo TODO: Fix this function.*/
}
void API_Impl::ReleaseFromLimbo( unsigned int objRef )
void API_Impl::ReleaseFromLimbo( const ICustomBody* objRef )
{
/** @todo TODO: Fix this function.*/
}
unsigned int API_Impl::AddObject( ::Utility::DynamicMemory::UniquePointer<ICustomBody> handle )
void API_Impl::AddObject( ::Utility::DynamicMemory::UniquePointer<ICustomBody> handle )
{
/** @todo TODO: Fix this function.*/
return 0;
}
::Utility::DynamicMemory::UniquePointer<ICustomBody> ExtractObject( unsigned int objRef )
::Utility::DynamicMemory::UniquePointer<ICustomBody> API_Impl::ExtractObject( const ICustomBody* objRef )
{
//! @todo TODO: implement stub
return NULL;
}
void API_Impl::DestroyObject( unsigned int objRef )
void API_Impl::DestroyObject( const ICustomBody* objRef )
{
/** @todo TODO: Fix this function.*/
}
void API_Impl::ApplyForceAt( unsigned int objRef, const Float3 &worldPos, const Float3 &worldF )
void API_Impl::ApplyForceAt( const ICustomBody* objRef, const Float3 &worldPos, const Float3 &worldF )
{
//! @todo TODO: implement stub
}
void API_Impl::ApplyCollisionResponse( unsigned int objRefA, unsigned int objRefB, Float &deltaWhen, Float3 &worldPointOfContact )
void API_Impl::ApplyCollisionResponse( const ICustomBody* objRefA, const ICustomBody* objRefB, Float &deltaWhen, Float3 &worldPointOfContact )
{
//! @todo TODO: implement stub
}
void API_Impl::SetMomentOfInertiaTensor_KeepVelocity( unsigned int objRef, const Float4x4 &localI )
void API_Impl::SetMomentOfInertiaTensor_KeepVelocity( const ICustomBody* objRef, const Float4x4 &localI )
{
//! @todo TODO: implement stub
}
void API_Impl::SetMomentOfInertiaTensor_KeepMomentum( unsigned int objRef, const Float4x4 &localI )
void API_Impl::SetMomentOfInertiaTensor_KeepMomentum( const ICustomBody* objRef, const Float4x4 &localI )
{
//! @todo TODO: implement stub
}
void API_Impl::SetMass_KeepVelocity( unsigned int objRef, Float m )
void API_Impl::SetMass_KeepVelocity( const ICustomBody* objRef, Float m )
{
//! @todo TODO: implement stub
}
void API_Impl::SetMass_KeepMomentum( unsigned int objRef, Float m )
void API_Impl::SetMass_KeepMomentum( const ICustomBody* objRef, Float m )
{
//! @todo TODO: implement stub
}
void API_Impl::SetCenter( unsigned int objRef, const Float3 &worldPos )
void API_Impl::SetCenter( const ICustomBody* objRef, const Float3 &worldPos )
{
//! @todo TODO: implement stub
}
void API_Impl::SetRotation( unsigned int objRef, const Float4x4 &rotation )
void API_Impl::SetRotation( const ICustomBody* objRef, const Float4x4 &rotation )
{
//! @todo TODO: implement stub
}
void API_Impl::SetOrientation( unsigned int objRef, const Float4x4 &orientation )
void API_Impl::SetOrientation( const ICustomBody* objRef, const Float4x4 &orientation )
{
//! @todo TODO: implement stub
}
void API_Impl::SetSize( const ICustomBody* objRef, const Float3 &size )
{
//! @todo TODO: implement stub
}

40
Code/GamePhysics/Implementation/PhysicsAPI_Impl.h
View File

@ -13,6 +13,8 @@ namespace Oyster
API_Impl();
virtual ~API_Impl();
void Init( unsigned int numObjects, unsigned int numGravityWells , const ::Oyster::Math::Float3 &worldSize );
void SetDeltaTime( float deltaTime );
void SetGravityConstant( float g );
void SetAction( EventAction_Collision functionPointer );
@ -20,30 +22,32 @@ namespace Oyster
void Update();
bool IsInLimbo( unsigned int objRef );
void MoveToLimbo( unsigned int objRef );
void ReleaseFromLimbo( unsigned int objRef );
bool IsInLimbo( const ICustomBody* objRef );
void MoveToLimbo( const ICustomBody* objRef );
void ReleaseFromLimbo( const ICustomBody* objRef );
unsigned int AddObject( ::Utility::DynamicMemory::UniquePointer<ICustomBody> handle );
::Utility::DynamicMemory::UniquePointer<ICustomBody> ExtractObject( unsigned int objRef );
void DestroyObject( unsigned int objRef );
void AddObject( ::Utility::DynamicMemory::UniquePointer<ICustomBody> handle );
::Utility::DynamicMemory::UniquePointer<ICustomBody> ExtractObject( const ICustomBody* objRef );
void DestroyObject( const ICustomBody* objRef );
const ICustomBody & Peek( unsigned int objRef ) const;
void ApplyForceAt( const ICustomBody* objRef, const ::Oyster::Math::Float3 &worldPos, const ::Oyster::Math::Float3 &worldF );
void ApplyCollisionResponse( const ICustomBody* objRefA, const ICustomBody* objRefB, ::Oyster::Math::Float &deltaWhen, ::Oyster::Math::Float3 &worldPointOfContact );
void ApplyForceAt( unsigned int objRef, const ::Oyster::Math::Float3 &worldPos, const ::Oyster::Math::Float3 &worldF );
void ApplyCollisionResponse( unsigned int objRefA, unsigned int objRefB, ::Oyster::Math::Float &deltaWhen, ::Oyster::Math::Float3 &worldPointOfContact );
void SetMomentOfInertiaTensor_KeepVelocity( unsigned int objRef, const ::Oyster::Math::Float4x4 &localI );
void SetMomentOfInertiaTensor_KeepMomentum( unsigned int objRef, const ::Oyster::Math::Float4x4 &localI );
void SetMass_KeepVelocity( unsigned int objRef, ::Oyster::Math::Float m );
void SetMass_KeepMomentum( unsigned int objRef, ::Oyster::Math::Float m );
void SetCenter( unsigned int objRef, const ::Oyster::Math::Float3 &worldPos );
void SetRotation( unsigned int objRef, const ::Oyster::Math::Float4x4 &rotation );
void SetOrientation( unsigned int objRef, const ::Oyster::Math::Float4x4 &orientation );
void SetMomentOfInertiaTensor_KeepVelocity( const ICustomBody* objRef, const ::Oyster::Math::Float4x4 &localI );
void SetMomentOfInertiaTensor_KeepMomentum( const ICustomBody* objRef, const ::Oyster::Math::Float4x4 &localI );
void SetMass_KeepVelocity( const ICustomBody* objRef, ::Oyster::Math::Float m );
void SetMass_KeepMomentum( const ICustomBody* objRef, ::Oyster::Math::Float m );
void SetCenter( const ICustomBody* objRef, const ::Oyster::Math::Float3 &worldPos );
void SetRotation( const ICustomBody* objRef, const ::Oyster::Math::Float4x4 &rotation );
void SetOrientation( const ICustomBody* objRef, const ::Oyster::Math::Float4x4 &orientation );
void SetSize( const ICustomBody* objRef, const ::Oyster::Math::Float3 &size );
::Utility::DynamicMemory::UniquePointer<ICustomBody> CreateSimpleRigidBody() const;
private:
::Oyster::Math::Float gravityConstant, updateFrameLength;
EventAction_Collision collisionAction;
EventAction_Destruction destructionAction;
};
}
}

116
Code/GamePhysics/Implementation/SimpleRigidBody.cpp
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@ -1,19 +1,19 @@
#include "SimpleRigidBody.h"
#include "PhysicsAPI_Impl.h"
using namespace ::Oyster::Physics;
using namespace ::Oyster::Math;
using namespace ::Oyster::Math3D;
using namespace ::Oyster::Collision3D;
using namespace ::Utility::DynamicMemory;
using namespace ::Utility::Value;
SimpleRigidBody::SimpleRigidBody()
{
//! @todo TODO: implement stub
}
: previous(), current(),
gravityNormal(0.0f),
subscribeCollision(true),
ignoreGravity(false) {}
SimpleRigidBody::~SimpleRigidBody()
{
//! @todo TODO: implement stub
}
SimpleRigidBody::~SimpleRigidBody() {}
UniquePointer<ICustomBody> SimpleRigidBody::Clone() const
{
@ -21,102 +21,132 @@ UniquePointer<ICustomBody> SimpleRigidBody::Clone() const
}
bool SimpleRigidBody::IsSubscribingCollisions() const
{
//! @todo TODO: implement stub
return false;
{ // Assumption
return this->subscribeCollision;
}
bool SimpleRigidBody::Intersects( const ICustomBody &object, Float &deltaWhen, Float3 &worldPointOfContact ) const
bool SimpleRigidBody::IsAffectedByGravity() const
{
//! @todo TODO: implement stub
return false;
return !this->ignoreGravity;
}
bool SimpleRigidBody::Intersects( const ICustomBody &object, Float timeStepLength, Float &deltaWhen, Float3 &worldPointOfContact ) const
{
if( object.Intersects(this->current.box) )
{ //! @todo TODO: better implementation needed
deltaWhen = timeStepLength;
worldPointOfContact = Average( this->current.box.center, object.GetCenter() );
return true;
}
else
{
return false;
}
}
bool SimpleRigidBody::Intersects( const ICollideable &shape ) const
{
//! @todo TODO: implement stub
return false;
}
unsigned int SimpleRigidBody::GetReference() const
{
//! @todo TODO: implement stub
return Error::not_a_reference;
return this->current.box.Intersects( shape );
}
Sphere & SimpleRigidBody::GetBoundingSphere( Sphere &targetMem ) const
{
//! @todo TODO: implement stub
return targetMem = Sphere( Float3::null, 0.0f );
return targetMem = Sphere( this->current.box.center, this->current.box.boundingOffset.GetMagnitude() );
}
Float3 & SimpleRigidBody::GetNormalAt( const Float3 &worldPos, Float3 &targetMem ) const
{
//! @todo TODO: implement stub
return targetMem = Float3::standard_unit_z;
//! @todo TODO: better implementation needed
return targetMem = (worldPos - this->current.box.center).GetNormalized();
}
Float3 & SimpleRigidBody::GetGravityNormal( Float3 &targetMem ) const
{
return targetMem = this->gravityNormal;
}
Float3 & SimpleRigidBody::GetCenter( Float3 &targetMem ) const
{
//! @todo TODO: implement stub
return targetMem = Float3::null;
return targetMem = this->current.box.center;
}
Float4x4 & SimpleRigidBody::GetRotation( Float4x4 &targetMem ) const
{
//! @todo TODO: implement stub
return targetMem = Float4x4::identity;
return targetMem = this->current.box.rotation;
}
Float4x4 & SimpleRigidBody::GetOrientation( Float4x4 &targetMem ) const
{
//! @todo TODO: implement stub
return targetMem = Float4x4::identity;
return targetMem = this->current.GetOrientation();
}
Float4x4 & SimpleRigidBody::GetView( Float4x4 &targetMem ) const
{
//! @todo TODO: implement stub
return targetMem = Float4x4::identity;
return targetMem = this->current.GetView();
}
UpdateState SimpleRigidBody::Update( Float timeStepLength )
{
//! @todo TODO: implement stub
return resting;
this->previous = this->current; // memorizing the old state
this->current.Update_LeapFrog( timeStepLength );
// compare previous and new state and return result
return this->current == this->previous ? resting : altered;
}
void SimpleRigidBody::SetGravity( bool ignore)
{
this->ignoreGravity = ignore;
this->gravityNormal = Float3::null;
}
void SimpleRigidBody::SetGravityNormal( const Float3 &normalizedVector )
{
this->gravityNormal = normalizedVector;
}
void SimpleRigidBody::SetSubscription( bool subscribeCollision )
{
this->subscribeCollision = subscribeCollision;
}
void SimpleRigidBody::SetMomentOfInertiaTensor_KeepVelocity( const Float4x4 &localI )
{
//! @todo TODO: implement stub
this->current.SetMomentOfInertia_KeepVelocity( localI );
}
void SimpleRigidBody::SetMomentOfInertiaTensor_KeepMomentum( const Float4x4 &localI )
{
//! @todo TODO: implement stub
this->current.SetMomentOfInertia_KeepMomentum( localI );
}
void SimpleRigidBody::SetMass_KeepVelocity( Float m )
{
//! @todo TODO: implement stub
this->current.SetMass_KeepVelocity( m );
}
void SimpleRigidBody::SetMass_KeepMomentum( Float m )
{
//! @todo TODO: implement stub
this->current.SetMass_KeepMomentum( m );
}
void SimpleRigidBody::SetCenter( const Float3 &worldPos )
{
//! @todo TODO: implement stub
this->current.SetCenter( worldPos );
}
void SimpleRigidBody::SetRotation( const Float4x4 &rotation )
{
//! @todo TODO: implement stub
this->current.SetRotation( rotation );
}
void SimpleRigidBody::SetOrientation( const Float4x4 &orientation )
{
//! @todo TODO: implement stub
this->current.SetOrientation( orientation );
}
void SimpleRigidBody::SetSize( const Float3 &size )
{
this->current.SetSize( size );
}

13
Code/GamePhysics/Implementation/SimpleRigidBody.h
View File

@ -2,6 +2,7 @@
#define OYSTER_PHYSICS_SIMPLE_RIGIDBODY_H
#include "..\PhysicsAPI.h"
#include "RigidBody.h"
namespace Oyster { namespace Physics
{
@ -14,12 +15,13 @@ namespace Oyster { namespace Physics
::Utility::DynamicMemory::UniquePointer<ICustomBody> Clone() const;
bool IsSubscribingCollisions() const;
bool Intersects( const ICustomBody &object, ::Oyster::Math::Float &deltaWhen, ::Oyster::Math::Float3 &worldPointOfContact ) const;
bool IsAffectedByGravity() const;
bool Intersects( const ICustomBody &object, ::Oyster::Math::Float timeStepLength, ::Oyster::Math::Float &deltaWhen, ::Oyster::Math::Float3 &worldPointOfContact ) const;
bool Intersects( const ::Oyster::Collision3D::ICollideable &shape ) const;
unsigned int GetReference() const;
::Oyster::Collision3D::Sphere & GetBoundingSphere( ::Oyster::Collision3D::Sphere &targetMem = ::Oyster::Collision3D::Sphere() ) const;
::Oyster::Math::Float3 & GetNormalAt( const ::Oyster::Math::Float3 &worldPos, ::Oyster::Math::Float3 &targetMem = ::Oyster::Math::Float3() ) const;
::Oyster::Math::Float3 & GetGravityNormal( ::Oyster::Math::Float3 &targetMem = ::Oyster::Math::Float3() ) const;
::Oyster::Math::Float3 & GetCenter( ::Oyster::Math::Float3 &targetMem = ::Oyster::Math::Float3() ) const;
::Oyster::Math::Float4x4 & GetRotation( ::Oyster::Math::Float4x4 &targetMem = ::Oyster::Math::Float4x4() ) const;
::Oyster::Math::Float4x4 & GetOrientation( ::Oyster::Math::Float4x4 &targetMem = ::Oyster::Math::Float4x4() ) const;
@ -27,6 +29,9 @@ namespace Oyster { namespace Physics
UpdateState Update( ::Oyster::Math::Float timeStepLength );
void SetGravity( bool ignore);
void SetGravityNormal( const ::Oyster::Math::Float3 &normalizedVector );
void SetSubscription( bool subscribeCollision );
void SetMomentOfInertiaTensor_KeepVelocity( const ::Oyster::Math::Float4x4 &localI );
void SetMomentOfInertiaTensor_KeepMomentum( const ::Oyster::Math::Float4x4 &localI );
void SetMass_KeepVelocity( ::Oyster::Math::Float m );
@ -34,8 +39,12 @@ namespace Oyster { namespace Physics
void SetCenter( const ::Oyster::Math::Float3 &worldPos );
void SetRotation( const ::Oyster::Math::Float4x4 &rotation );
void SetOrientation( const ::Oyster::Math::Float4x4 &orientation );
void SetSize( const ::Oyster::Math::Float3 &size );
private:
::Oyster::Physics3D::RigidBody previous, current;
::Oyster::Math::Float3 gravityNormal;
bool subscribeCollision, ignoreGravity;
};
} }

157
Code/GamePhysics/Implementation/SphericalRigidBody.cpp Normal file
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@ -0,0 +1,157 @@
#include "SphericalRigidBody.h"
#include "PhysicsAPI_Impl.h"
using namespace ::Oyster::Physics;
using namespace ::Oyster::Math3D;
using namespace ::Oyster::Collision3D;
using namespace ::Utility::DynamicMemory;
using namespace ::Utility::Value;
SphericalRigidBody::SphericalRigidBody()
: previous(), current( Box(Float4x4::identity, Float3::null, Float3(1.0f)) ),
gravityNormal( 0.0f ),
subscribeCollision( true ),
ignoreGravity( false ),
body( Float3::null, 0.5f ) {}
SphericalRigidBody::~SphericalRigidBody() {}
UniquePointer<ICustomBody> SphericalRigidBody::Clone() const
{
return new SphericalRigidBody( *this );
}
bool SphericalRigidBody::IsSubscribingCollisions() const
{ // Assumption
return this->subscribeCollision;
}
bool SphericalRigidBody::IsAffectedByGravity() const
{
return !this->ignoreGravity;
}
bool SphericalRigidBody::Intersects( const ICustomBody &object, Float timeStepLength, Float &deltaWhen, Float3 &worldPointOfContact ) const
{
if( object.Intersects(this->body) )
{ //! @todo TODO: better implementation needed
deltaWhen = timeStepLength;
worldPointOfContact = Average( this->body.center, object.GetCenter() );
return true;
}
else
{
return false;
}
}
bool SphericalRigidBody::Intersects( const ICollideable &shape ) const
{
return this->current.box.Intersects( shape );
}
Sphere & SphericalRigidBody::GetBoundingSphere( Sphere &targetMem ) const
{
return targetMem = this->body;
}
Float3 & SphericalRigidBody::GetNormalAt( const Float3 &worldPos, Float3 &targetMem ) const
{
//! @todo TODO: better implementation needed
return targetMem = (worldPos - this->current.box.center).GetNormalized();
}
Float3 & SphericalRigidBody::GetGravityNormal( Float3 &targetMem ) const
{
return targetMem = this->gravityNormal;
}
Float3 & SphericalRigidBody::GetCenter( Float3 &targetMem ) const
{
return targetMem = this->current.box.center;
}
Float4x4 & SphericalRigidBody::GetRotation( Float4x4 &targetMem ) const
{
return targetMem = this->current.box.rotation;
}
Float4x4 & SphericalRigidBody::GetOrientation( Float4x4 &targetMem ) const
{
return targetMem = this->current.GetOrientation();
}
Float4x4 & SphericalRigidBody::GetView( Float4x4 &targetMem ) const
{
return targetMem = this->current.GetView();
}
UpdateState SphericalRigidBody::Update( Float timeStepLength )
{
this->previous = this->current; // memorizing the old state
this->current.Update_LeapFrog( timeStepLength );
this->body.center = this->current.GetCenter();
// compare previous and new state and return result
return this->current == this->previous ? resting : altered;
}
void SphericalRigidBody::SetGravity( bool ignore)
{
this->ignoreGravity = ignore;
this->gravityNormal = Float3::null;
}
void SphericalRigidBody::SetGravityNormal( const Float3 &normalizedVector )
{
this->gravityNormal = normalizedVector;
}
void SphericalRigidBody::SetSubscription( bool subscribeCollision )
{
this->subscribeCollision = subscribeCollision;
}
void SphericalRigidBody::SetMomentOfInertiaTensor_KeepVelocity( const Float4x4 &localI )
{
this->current.SetMomentOfInertia_KeepVelocity( localI );
}
void SphericalRigidBody::SetMomentOfInertiaTensor_KeepMomentum( const Float4x4 &localI )
{
this->current.SetMomentOfInertia_KeepMomentum( localI );
}
void SphericalRigidBody::SetMass_KeepVelocity( Float m )
{
this->current.SetMass_KeepVelocity( m );
}
void SphericalRigidBody::SetMass_KeepMomentum( Float m )
{
this->current.SetMass_KeepMomentum( m );
}
void SphericalRigidBody::SetCenter( const Float3 &worldPos )
{
this->current.SetCenter( worldPos );
this->body.center = worldPos;
}
void SphericalRigidBody::SetRotation( const Float4x4 &rotation )
{
this->current.SetRotation( rotation );
}
void SphericalRigidBody::SetOrientation( const Float4x4 &orientation )
{
this->current.SetOrientation( orientation );
this->body.center = orientation.v[3].xyz;
}
void SphericalRigidBody::SetSize( const Float3 &size )
{
this->current.SetSize( size );
this->body.radius = 0.5f * Min( Min( size.x, size.y ), size.z ); // inline Min( FloatN )?
}

53
Code/GamePhysics/Implementation/SphericalRigidBody.h Normal file
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@ -0,0 +1,53 @@
#ifndef OYSTER_PHYSICS_SPHERICAL_RIGIDBODY_H
#define OYSTER_PHYSICS_SPHERICAL_RIGIDBODY_H
#include "..\PhysicsAPI.h"
#include "RigidBody.h"
#include "Sphere.h"
namespace Oyster { namespace Physics
{
class SphericalRigidBody : public ICustomBody
{
public:
SphericalRigidBody();
virtual ~SphericalRigidBody();
::Utility::DynamicMemory::UniquePointer<ICustomBody> Clone() const;
bool IsSubscribingCollisions() const;
bool IsAffectedByGravity() const;
bool Intersects( const ICustomBody &object, ::Oyster::Math::Float timeStepLength, ::Oyster::Math::Float &deltaWhen, ::Oyster::Math::Float3 &worldPointOfContact ) const;
bool Intersects( const ::Oyster::Collision3D::ICollideable &shape ) const;
::Oyster::Collision3D::Sphere & GetBoundingSphere( ::Oyster::Collision3D::Sphere &targetMem = ::Oyster::Collision3D::Sphere() ) const;
::Oyster::Math::Float3 & GetNormalAt( const ::Oyster::Math::Float3 &worldPos, ::Oyster::Math::Float3 &targetMem = ::Oyster::Math::Float3() ) const;
::Oyster::Math::Float3 & GetGravityNormal( ::Oyster::Math::Float3 &targetMem = ::Oyster::Math::Float3() ) const;
::Oyster::Math::Float3 & GetCenter( ::Oyster::Math::Float3 &targetMem = ::Oyster::Math::Float3() ) const;
::Oyster::Math::Float4x4 & GetRotation( ::Oyster::Math::Float4x4 &targetMem = ::Oyster::Math::Float4x4() ) const;
::Oyster::Math::Float4x4 & GetOrientation( ::Oyster::Math::Float4x4 &targetMem = ::Oyster::Math::Float4x4() ) const;
::Oyster::Math::Float4x4 & GetView( ::Oyster::Math::Float4x4 &targetMem = ::Oyster::Math::Float4x4() ) const;
UpdateState Update( ::Oyster::Math::Float timeStepLength );
void SetGravity( bool ignore);
void SetGravityNormal( const ::Oyster::Math::Float3 &normalizedVector );
void SetSubscription( bool subscribeCollision );
void SetMomentOfInertiaTensor_KeepVelocity( const ::Oyster::Math::Float4x4 &localI );
void SetMomentOfInertiaTensor_KeepMomentum( const ::Oyster::Math::Float4x4 &localI );
void SetMass_KeepVelocity( ::Oyster::Math::Float m );
void SetMass_KeepMomentum( ::Oyster::Math::Float m );
void SetCenter( const ::Oyster::Math::Float3 &worldPos );
void SetRotation( const ::Oyster::Math::Float4x4 &rotation );
void SetOrientation( const ::Oyster::Math::Float4x4 &orientation );
void SetSize( const ::Oyster::Math::Float3 &size );
private:
::Oyster::Physics3D::RigidBody previous, current;
::Oyster::Math::Float3 gravityNormal;
bool subscribeCollision, ignoreGravity;
::Oyster::Collision3D::Sphere body;
};
} }
#endif

392
Code/GamePhysics/PhysicsAPI.h
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@ -3,7 +3,12 @@
#include "OysterCollision3D.h"
#include "OysterMath.h"
#include "Utilities.h"
#if defined PHYSICS_DLL_EXPORT
#define PHYSICS_DLL_USAGE __declspec(dllexport)
#else
#define PHYSICS_DLL_USAGE __declspec(dllimport)
#endif
namespace Oyster
{
@ -20,116 +25,357 @@ namespace Oyster
namespace Constant
{
const float gravity_constant = (const float)6.67284e-11; // The _big_G_! ( N(m/kg)^2 ) Used in real gravityforcefields.
const float gravity_constant = (const float)6.67284e-11; //!< The _big_G_! ( N(m/kg)^2 ) Used in real gravityforcefields.
}
class API
class PHYSICS_DLL_USAGE MomentOfInertia
{
public:
typedef void (*EventAction_Collision)( unsigned int, unsigned int );
typedef void (*EventAction_Destruction)( unsigned int, ::Utility::DynamicMemory::UniquePointer<ICustomBody> );
static ::Oyster::Math::Float4x4 & CreateSphereMatrix( const ::Oyster::Math::Float mass, const ::Oyster::Math::Float radius);
static ::Oyster::Math::Float4x4 & CreateHollowSphereMatrix( const ::Oyster::Math::Float mass, const ::Oyster::Math::Float radius);
static ::Oyster::Math::Float4x4 & CreateCuboidMatrix( const ::Oyster::Math::Float mass, const ::Oyster::Math::Float height, const ::Oyster::Math::Float width, const ::Oyster::Math::Float depth );
static ::Oyster::Math::Float4x4 & CreateCylinderMatrix( const ::Oyster::Math::Float mass, const ::Oyster::Math::Float height, const ::Oyster::Math::Float radius );
static ::Oyster::Math::Float4x4 & CreateRodMatrix( const ::Oyster::Math::Float mass, const ::Oyster::Math::Float length );
};
class PHYSICS_DLL_USAGE API
{
public:
typedef void (*EventAction_Collision)( const ICustomBody *proto, const ICustomBody *deuter );
typedef void (*EventAction_Destruction)( ::Utility::DynamicMemory::UniquePointer<ICustomBody> proto );
/** Gets the Physics instance. */
static API & Instance();
virtual void SetDeltaTime( float deltaTime ) = 0;
/********************************************************
* Clears all content and reset Engine assetts such as buffers.
* @param numObjects: The predicted max number of active objects.
* @param numGravityWells: The predicted max number of active gravity wells.
* @param worldSize: The size of acceptable physics space.
********************************************************/
virtual void Init( unsigned int numObjects, unsigned int numGravityWells , const ::Oyster::Math::Float3 &worldSize ) = 0;
/********************************************************
* Sets the time length of each physics update frame.
********************************************************/
virtual void SetDeltaTime( float seconds ) = 0;
/********************************************************
* Sets the Gravityconstant in the physics that will be
* used in ForceField calculations.
* @param g: Default is the real world Constant::gravity_constant [N(m/kg)^2]
********************************************************/
virtual void SetGravityConstant( float g ) = 0;
/********************************************************
* Sets the function that will be called by the engine
* whenever a subscribed collision occurs.
********************************************************/
virtual void SetAction( EventAction_Collision functionPointer ) = 0;
/********************************************************
* Sets the function that will be called by the engine
* whenever an object is being destroyed for some reason.
* - Because DestroyObject(...) were called.
* - Out of memory forced engine to destroy an object.
********************************************************/
virtual void SetAction( EventAction_Destruction functionPointer ) = 0;
/********************************************************
* Triggers the engine to run next update frame.
* All accumulated forces and changes will be consumed.
* EventAction functions might be called.
********************************************************/
virtual void Update() = 0;
virtual bool IsInLimbo( unsigned int objRef ) = 0;
virtual void MoveToLimbo( unsigned int objRef ) = 0;
virtual void ReleaseFromLimbo( unsigned int objRef ) = 0;
/********************************************************
* An object in limbo state will be ignored during the physics frame Update.
* @param objRef: A pointer to the ICustomBody representing a physical object.
* @return true if object is in limbo state.
********************************************************/
virtual bool IsInLimbo( const ICustomBody* objRef ) = 0;
/********************************************************
* An object in limbo state will be ignored during the physics frame Update.
* This will put an object in Limbo state.
* @param objRef: A pointer to the ICustomBody representing a physical object.
********************************************************/
virtual void MoveToLimbo( const ICustomBody* objRef ) = 0;
/********************************************************
* An object in limbo state will be ignored during the physics frame Update.
* This will clear the accumulated force/torque and remove the Limbo state.
* @param objRef: A pointer to the ICustomBody representing a physical object.
********************************************************/
virtual void ReleaseFromLimbo( const ICustomBody* objRef ) = 0;
virtual unsigned int AddObject( ::Utility::DynamicMemory::UniquePointer<ICustomBody> handle ) = 0;
virtual ::Utility::DynamicMemory::UniquePointer<ICustomBody> ExtractObject( unsigned int objRef ) = 0;
virtual void DestroyObject( unsigned int objRef ) = 0;
/********************************************************
* Introduces a new object into the engine.
* @param handle: A pointer along with the responsibility to delete.
********************************************************/
virtual void AddObject( ::Utility::DynamicMemory::UniquePointer<ICustomBody> handle ) = 0;
virtual const ICustomBody & Peek( unsigned int objRef ) const = 0;
/********************************************************
* Fetches and removes an object from the engine.
* Will not call the provided EventAction_Destruction method.
* @param objRef: A pointer to the ICustomBody representing a physical object.
* @return A pointer along with the responsibility to delete. NULL if faulty objRef.
********************************************************/
virtual ::Utility::DynamicMemory::UniquePointer<ICustomBody> ExtractObject( const ICustomBody* objRef ) = 0;
virtual void ApplyForceAt( unsigned int objRef, const ::Oyster::Math::Float3 &worldPos, const ::Oyster::Math::Float3 &worldF ) = 0;
virtual void ApplyCollisionResponse( unsigned int objRefA, unsigned int objRefB, ::Oyster::Math::Float &deltaWhen, ::Oyster::Math::Float3 &worldPointOfContact ) = 0;
/********************************************************
* Removes an object from the engine.
* Will call the provided EventAction_Destruction method. Not if objRef is faulty.
* @param objRef: A pointer to the ICustomBody representing a physical object.
********************************************************/
virtual void DestroyObject( const ICustomBody* objRef ) = 0;
virtual void SetMomentOfInertiaTensor_KeepVelocity( unsigned int objRef, const ::Oyster::Math::Float4x4 &localI ) = 0;
virtual void SetMomentOfInertiaTensor_KeepMomentum( unsigned int objRef, const ::Oyster::Math::Float4x4 &localI ) = 0;
virtual void SetMass_KeepVelocity( unsigned int objRef, ::Oyster::Math::Float m ) = 0;
virtual void SetMass_KeepMomentum( unsigned int objRef, ::Oyster::Math::Float m ) = 0;
virtual void SetCenter( unsigned int objRef, const ::Oyster::Math::Float3 &worldPos ) = 0;
virtual void SetRotation( unsigned int objRef, const ::Oyster::Math::Float4x4 &rotation ) = 0;
virtual void SetOrientation( unsigned int objRef, const ::Oyster::Math::Float4x4 &orientation ) = 0;
/********************************************************
* Apply force on an object.
* @param objRef: A pointer to the ICustomBody representing a physical object.
* @param worldPos: Relative to the world origo. (Not relative to object) [m]
* @param worldF: Vector with the direction and magnitude of the force. [N]
********************************************************/
virtual void ApplyForceAt( const ICustomBody* objRef, const ::Oyster::Math::Float3 &worldPos, const ::Oyster::Math::Float3 &worldF ) = 0;
/********************************************************
* Apply force on an object.
* @param objRefA: A pointer to the ICustomBody representing a physical object.
* @param objRefB: A pointer to the ICustomBody representing a physical object.
* @param deltaWhen: The elapsed simulation time since last update frame. [s]
* @param worldPointOfContact: Point of Collision, relative to the world origo. (Not relative to the objects) [m]
********************************************************/
virtual void ApplyCollisionResponse( const ICustomBody* objRefA, const ICustomBody* objRefB, ::Oyster::Math::Float &deltaWhen, ::Oyster::Math::Float3 &worldPointOfContact ) = 0;
/********************************************************
* Sets the MomentOfInertia tensor matrix of an object without changing it's angular velocity.
* Noticeable effect: The angular momentum will change. Changing the amount of kinetic energy.
* @param objRef: A pointer to the ICustomBody representing a physical object.
* @param localI: The tensor matrix relative to the axises of the object. @see MomentOfInertia namespace.
********************************************************/
virtual void SetMomentOfInertiaTensor_KeepVelocity( const ICustomBody* objRef, const ::Oyster::Math::Float4x4 &localI ) = 0;
/********************************************************
* Sets the MomentOfInertia tensor matrix of an object without changing it's angular momentum.
* Noticeable effect: The angular velocity will change. Can be used to create slow effects.
* @param objRef: A pointer to the ICustomBody representing a physical object.
* @param localI: The tensor matrix relative to the axises of the object. @see MomentOfInertia namespace.
********************************************************/
virtual void SetMomentOfInertiaTensor_KeepMomentum( const ICustomBody* objRef, const ::Oyster::Math::Float4x4 &localI ) = 0;
/********************************************************
* Sets the mass of an object without changing it's linear velocity.
* Noticeable effect: The linear momentum will change. Changing the amount of kinetic energy.
* @param objRef: A pointer to the ICustomBody representing a physical object.
* @param m: [kg]
********************************************************/
virtual void SetMass_KeepVelocity( const ICustomBody* objRef, ::Oyster::Math::Float m ) = 0;
/********************************************************
* Sets the mass of an object without changing it's linear velocity.
* Noticeable effect: The linear velocity will change. Can be used to create slow effects.
* @param objRef: A pointer to the ICustomBody representing a physical object.
* @param m: [kg]
********************************************************/
virtual void SetMass_KeepMomentum( const ICustomBody* objRef, ::Oyster::Math::Float m ) = 0;
/********************************************************
* Instantly moves an object.
* @param objRef: A pointer to the ICustomBody representing a physical object.
* @param worldPos: Relative to the world origo. (Not relative to object) [m]
********************************************************/
virtual void SetCenter( const ICustomBody* objRef, const ::Oyster::Math::Float3 &worldPos ) = 0;
/********************************************************
* Instantly redirects object.
* @param objRef: A pointer to the ICustomBody representing a physical object.
* @param rotation: New rotation.
********************************************************/
virtual void SetRotation( const ICustomBody* objRef, const ::Oyster::Math::Float4x4 &rotation ) = 0;
/********************************************************
* Instantly moves and redirects object.
* @param objRef: A pointer to the ICustomBody representing a physical object.
* @param orientation: New orientation.
********************************************************/
virtual void SetOrientation( const ICustomBody* objRef, const ::Oyster::Math::Float4x4 &orientation ) = 0;
/********************************************************
* Resizes the boundingBox.
* @param objRef: A pointer to the ICustomBody representing a physical object.
* @param size: New size of this [m]
********************************************************/
virtual void SetSize( const ICustomBody* objRef, const ::Oyster::Math::Float3 &size ) = 0;
/********************************************************
* Creates a new dynamically allocated object that can be used as a component for more complex ICustomBodies.
* @return A pointer along with the responsibility to delete.
********************************************************/
virtual ::Utility::DynamicMemory::UniquePointer<ICustomBody> CreateSimpleRigidBody() const = 0;
protected:
virtual ~API() {}
};
class ICustomBody
//! The root interface for all physical representations processable by the engine.
class PHYSICS_DLL_USAGE ICustomBody
{
public:
virtual ~ICustomBody() {};
/********************************************************
* Creates a complete copy of the current (type)object.
* @return An ICustomBody pointer along with the responsibility to delete.
********************************************************/
virtual ::Utility::DynamicMemory::UniquePointer<ICustomBody> Clone() const = 0;
/********************************************************
* @return true if Engine should call the EventAction_Collision function.
********************************************************/
virtual bool IsSubscribingCollisions() const = 0;
virtual bool Intersects( const ICustomBody &object, ::Oyster::Math::Float &deltaWhen, ::Oyster::Math::Float3 &worldPointOfContact ) const = 0;
/********************************************************
* @return true if Engine should apply gravity on this object.
********************************************************/
virtual bool IsAffectedByGravity() const = 0;
/********************************************************
* Performs a detailed Intersect test and returns if, when and where.
* @param object: What this is intersect testing against.
* @param timeStepLength: The value set by API::SetDeltaTime(...)
* @param deltaWhen: Time in seconds since last update frame til timeOfContact. 0.0f <= deltaWhen <= timeStepLength
* @param worldPointOfContact: Where at timeOfContact, this and object touches eachother.
* @return true if this truly intersects with object.
********************************************************/
virtual bool Intersects( const ICustomBody &object, ::Oyster::Math::Float timeStepLength, ::Oyster::Math::Float &deltaWhen, ::Oyster::Math::Float3 &worldPointOfContact ) const = 0;
/********************************************************
* param shape: Any defined sample shape.
* @return true if this truly intersects with shape.
********************************************************/
virtual bool Intersects( const ::Oyster::Collision3D::ICollideable &shape ) const = 0;
virtual unsigned int GetReference() const = 0;
virtual ::Oyster::Collision3D::Sphere & GetBoundingSphere( ::Oyster::Collision3D::Sphere &targetMem = ::Oyster::Collision3D::Sphere() ) const = 0;
virtual ::Oyster::Math::Float3 & GetNormalAt( const ::Oyster::Math::Float3 &worldPos, ::Oyster::Math::Float3 &targetMem = ::Oyster::Math::Float3() ) const = 0;
virtual ::Oyster::Math::Float3 & GetCenter( ::Oyster::Math::Float3 &targetMem = ::Oyster::Math::Float3() ) const = 0;
virtual ::Oyster::Math::Float4x4 & GetRotation( ::Oyster::Math::Float4x4 &targetMem = ::Oyster::Math::Float4x4() ) const = 0;
virtual ::Oyster::Math::Float4x4 & GetOrientation( ::Oyster::Math::Float4x4 &targetMem = ::Oyster::Math::Float4x4() ) const = 0;
virtual ::Oyster::Math::Float4x4 & GetView( ::Oyster::Math::Float4x4 &targetMem = ::Oyster::Math::Float4x4() ) const = 0;
virtual UpdateState Update( ::Oyster::Math::Float timeStepLength ) = 0;
virtual void SetMomentOfInertiaTensor_KeepVelocity( const ::Oyster::Math::Float4x4 &localI ) = 0;
virtual void SetMomentOfInertiaTensor_KeepMomentum( const ::Oyster::Math::Float4x4 &localI ) = 0;
virtual void SetMass_KeepVelocity( ::Oyster::Math::Float m ) = 0;
virtual void SetMass_KeepMomentum( ::Oyster::Math::Float m ) = 0;
virtual void SetCenter( const ::Oyster::Math::Float3 &worldPos ) = 0;
virtual void SetRotation( const ::Oyster::Math::Float4x4 &rotation ) = 0;
virtual void SetOrientation( const ::Oyster::Math::Float4x4 &orientation ) = 0;
};
namespace Error
{
const unsigned int not_a_reference = ::Utility::Value::numeric_limits<unsigned int>::max();
class NullBody : public ICustomBody
{
public:
virtual ~NullBody();
::Utility::DynamicMemory::UniquePointer<ICustomBody> Clone() const;
/********************************************************
* Required by Engine's Collision Search.
* @param targetMem: Provided memory that written into and then returned.
* @return a sphere shape that contains the ICustomBody.
********************************************************/
virtual ::Oyster::Collision3D::Sphere & GetBoundingSphere( ::Oyster::Collision3D::Sphere &targetMem = ::Oyster::Collision3D::Sphere() ) const = 0;
bool IsSubscribingCollisions() const;
bool Intersects( const ICustomBody &object, ::Oyster::Math::Float &deltaWhen, ::Oyster::Math::Float3 &worldPointOfContact ) const;
bool Intersects( const ::Oyster::Collision3D::ICollideable &shape ) const;
/********************************************************
* Required by Engine's Collision Responsing.
* @param worldPos: Should be worldPointOfContact from Intersects( ... )
* @param targetMem: Provided memory that written into and then returned.
* @return a surface normal in worldSpace.
********************************************************/
virtual ::Oyster::Math::Float3 & GetNormalAt( const ::Oyster::Math::Float3 &worldPos, ::Oyster::Math::Float3 &targetMem = ::Oyster::Math::Float3() ) const = 0;
/********************************************************
* The gravity normal will have same direction as the total gravity force pulling on this and have the magnitude of 1.0f.
* @param targetMem: Provided memory that written into and then returned.
* @return a normalized vector in worldSpace. Exception: Null vector if no gravity been applied.
********************************************************/
virtual ::Oyster::Math::Float3 & GetGravityNormal( ::Oyster::Math::Float3 &targetMem = ::Oyster::Math::Float3() ) const = 0;
unsigned int GetReference() const;
::Oyster::Collision3D::Sphere & GetBoundingSphere( ::Oyster::Collision3D::Sphere &targetMem = ::Oyster::Collision3D::Sphere() ) const;
::Oyster::Math::Float3 & GetNormalAt( const ::Oyster::Math::Float3 &worldPos, ::Oyster::Math::Float3 &targetMem = ::Oyster::Math::Float3() ) const;
::Oyster::Math::Float3 & GetCenter( ::Oyster::Math::Float3 &targetMem = ::Oyster::Math::Float3() ) const;
::Oyster::Math::Float4x4 & GetRotation( ::Oyster::Math::Float4x4 &targetMem = ::Oyster::Math::Float4x4() ) const;
::Oyster::Math::Float4x4 & GetOrientation( ::Oyster::Math::Float4x4 &targetMem = ::Oyster::Math::Float4x4() ) const;
::Oyster::Math::Float4x4 & GetView( ::Oyster::Math::Float4x4 &targetMem = ::Oyster::Math::Float4x4() ) const;
/********************************************************
* The world position of this center of gravity.
* @param targetMem: Provided memory that written into and then returned.
* @return a position in worldSpace.
********************************************************/
virtual ::Oyster::Math::Float3 & GetCenter( ::Oyster::Math::Float3 &targetMem = ::Oyster::Math::Float3() ) const = 0;
/********************************************************
* @param targetMem: Provided memory that written into and then returned.
* @return a copy of this's rotation matrix.
********************************************************/
virtual ::Oyster::Math::Float4x4 & GetRotation( ::Oyster::Math::Float4x4 &targetMem = ::Oyster::Math::Float4x4() ) const = 0;
/********************************************************
* @param targetMem: Provided memory that written into and then returned.
* @return a copy of this's orientation matrix.
********************************************************/
virtual ::Oyster::Math::Float4x4 & GetOrientation( ::Oyster::Math::Float4x4 &targetMem = ::Oyster::Math::Float4x4() ) const = 0;
/********************************************************
* @param targetMem: Provided memory that written into and then returned.
* @return a copy of this's view matrix.
********************************************************/
virtual ::Oyster::Math::Float4x4 & GetView( ::Oyster::Math::Float4x4 &targetMem = ::Oyster::Math::Float4x4() ) const = 0;
UpdateState Update( ::Oyster::Math::Float timeStepLength );
/********************************************************
* To not be called if is in Engine
* Is called during API::Update
********************************************************/
virtual UpdateState Update( ::Oyster::Math::Float timeStepLength ) = 0;
/********************************************************
* @param ignore: True if Engine should not apply Gravity.
********************************************************/
virtual void SetGravity( bool ignore) = 0;
void SetMomentOfInertiaTensor_KeepVelocity( const ::Oyster::Math::Float4x4 &localI );
void SetMomentOfInertiaTensor_KeepMomentum( const ::Oyster::Math::Float4x4 &localI );
void SetMass_KeepVelocity( ::Oyster::Math::Float m );
void SetMass_KeepMomentum( ::Oyster::Math::Float m );
void SetCenter( const ::Oyster::Math::Float3 &worldPos );
void SetRotation( const ::Oyster::Math::Float4x4 &rotation );
void SetOrientation( const ::Oyster::Math::Float4x4 &orientation );
/********************************************************
* Used by Engine
* @param normalizedVector: Should have same direction as the pullinggravity.
********************************************************/
virtual void SetGravityNormal( const ::Oyster::Math::Float3 &normalizedVector ) = 0;
} const nobody;
}
/********************************************************
* @param subscribeCollision: If is true, engine will call EventAction_Collision when this collides.
********************************************************/
virtual void SetSubscription( bool subscribeCollision ) = 0;
/********************************************************
* To not be called if is in Engine
* Use API::SetMomentOfInertiaTensor_KeepVelocity(...) instead
********************************************************/
virtual void SetMomentOfInertiaTensor_KeepVelocity( const ::Oyster::Math::Float4x4 &localI ) = 0;
/********************************************************
* To not be called if is in Engine
* Use API::SetMomentOfInertiaTensor_KeepMomentum(...)
********************************************************/
virtual void SetMomentOfInertiaTensor_KeepMomentum( const ::Oyster::Math::Float4x4 &localI ) = 0;
/********************************************************
* To not be called if is in Engine
* Use API::SetMass_KeepVelocity(...)
********************************************************/
virtual void SetMass_KeepVelocity( ::Oyster::Math::Float m ) = 0;
/********************************************************
* To not be called if is in Engine
* Use API::SetMass_KeepMomentum(...)
********************************************************/
virtual void SetMass_KeepMomentum( ::Oyster::Math::Float m ) = 0;
/********************************************************
* To not be called if is in Engine
* Use API::SetCenter(...)
********************************************************/
virtual void SetCenter( const ::Oyster::Math::Float3 &worldPos ) = 0;
/********************************************************
* To not be called if is in Engine
* Use API::SetRotation(...)
********************************************************/
virtual void SetRotation( const ::Oyster::Math::Float4x4 &rotation ) = 0;
/********************************************************
* To not be called if is in Engine
* Use API::SetOrientation(...)
********************************************************/
virtual void SetOrientation( const ::Oyster::Math::Float4x4 &orientation ) = 0;
/********************************************************
* To not be called if is in Engine
* Use API::SetSize(...)
********************************************************/
virtual void SetSize( const ::Oyster::Math::Float3 &size ) = 0;
};
}
}
#endif

74
Code/Misc/Utilities.h
View File

@ -1,7 +1,7 @@
/////////////////////////////////////////////////////////////////////
//!//!//!//!//!//!//!//!//!//!//!//!//!//!//!//!//!//!//!//!//!//!//!
// Utility Collection of Miscellanious Handy Functions
// © Dan Andersson 2013
/////////////////////////////////////////////////////////////////////
//!//!//!//!//!//!//!//!//!//!//!//!//!//!//!//!//!//!//!//!//!//!//!
#ifndef UTILITIES_H
#define UTILITIES_H
@ -16,50 +16,50 @@ namespace Utility
{
namespace DynamicMemory
{
/// If dynamicInstance is not NULL, then delete
//! If dynamicInstance is not NULL, then delete
template<typename Type> void SafeDeleteInstance( Type *dynamicInstance );
/// If dynamicArray is not NULL, then delete []
//! If dynamicArray is not NULL, then delete []
template<typename Type> void SafeDeleteArray( Type dynamicArray[] );
template<typename Type>
struct UniquePointer
{ /// Wrapper to safely transfer dynamic ownership/responsibility
//! Wrapper to safely transfer dynamic ownership/responsibility
template<typename Type> struct UniquePointer
{
public:
/// Assigns assignedInstance ownership to this UniquePonter, old owned instance will be deleted.
/// If NULL is assigned is equavalent with clearing all responsibilities from this UniquePointer.
//! Assigns assignedInstance ownership to this UniquePonter, old owned instance will be deleted.
//! If NULL is assigned is equavalent with clearing all responsibilities from this UniquePointer.
UniquePointer( Type *assignedInstance = NULL );
/// Will auto delete assigned dynamic instance.
//! Will auto delete assigned dynamic instance.
~UniquePointer();
/// Assigns assignedInstance ownership to this UniquePonter, old owned instance will be deleted.
/// If NULL is assigned is equavalent with clearing all responsibilities from this UniquePointer.
//! Assigns assignedInstance ownership to this UniquePonter, old owned instance will be deleted.
//! If NULL is assigned is equavalent with clearing all responsibilities from this UniquePointer.
UniquePointer<Type> & operator = ( Type *assignedInstance );
/// Transfers assignedInstance ownership from donor to this UniquePonter, old owned instance will be deleted.
/// If donor had nothing, is equavalent with clearing all responsibilities from this UniquePointer.
//! Transfers assignedInstance ownership from donor to this UniquePonter, old owned instance will be deleted.
//! If donor had nothing, is equavalent with clearing all responsibilities from this UniquePointer.
UniquePointer<Type> & operator = ( const UniquePointer<Type> &donor );
/// Access the assigned dynamic instance. Will crash if nothing there
//! Access the assigned dynamic instance. Will crash if nothing there
operator Type* ();
/// Access the assigned dynamic instance. Will crash if nothing there
//! Access the assigned dynamic instance. Will crash if nothing there
operator const Type* () const;
/// Access members of the assigned dynamic instance. Will crash if nothing there
//! Access members of the assigned dynamic instance. Will crash if nothing there
Type * operator -> ();
/// Access members of the assigned dynamic instance. Will crash if nothing there
//! Access members of the assigned dynamic instance. Will crash if nothing there
const Type * operator -> () const;
/// If true, this UniquePointer have a current ownership/responsibility of a dynamic instance.
//! If true, this UniquePointer have a current ownership/responsibility of a dynamic instance.
operator bool () const;
/// This UniquePointer drops all claims of ownership/responsibility and returns the dynamic instance. Now it is your responsibility to delete.
//! This UniquePointer drops all claims of ownership/responsibility and returns the dynamic instance. Now it is your responsibility to delete.
Type* Release();
/// (inline) If true, this UniquePointer have a current ownership/responsibility of a dynamic instance.
//! (inline) If true, this UniquePointer have a current ownership/responsibility of a dynamic instance.
bool HaveOwnership() const;
private:
@ -68,38 +68,38 @@ namespace Utility
template<typename Type>
struct UniqueArray
{ /// Wrapper to safely transfer dynamic ownership/responsibility
{ //! Wrapper to safely transfer dynamic ownership/responsibility
public:
/// Assigns assignedInstance ownership to this UniquePonter, old owned array will be deleted.
/// If NULL is assigned is equavalent with clearing all responsibilities from this UniqueArray.
//! Assigns assignedInstance ownership to this UniquePonter, old owned array will be deleted.
//! If NULL is assigned is equavalent with clearing all responsibilities from this UniqueArray.
UniqueArray( Type assignedArray[] = NULL );
/// Will auto delete assigned dynamic array.
//! Will auto delete assigned dynamic array.
~UniqueArray();
/// Assigns assignedInstance ownership to this UniquePonter, old owned array will be deleted.
/// If NULL is assigned is equavalent with clearing all responsibilities from this UniqueArray.
//! Assigns assignedInstance ownership to this UniquePonter, old owned array will be deleted.
//! If NULL is assigned is equavalent with clearing all responsibilities from this UniqueArray.
UniqueArray<Type> & operator = ( Type assignedArray[] );
/// Transfers assignedInstance ownership from donor to this UniquePonter, old owned array will be deleted.
/// If donor had nothing, is equavalent with clearing all responsibilities from this UniqueArray.
//! Transfers assignedInstance ownership from donor to this UniquePonter, old owned array will be deleted.
//! If donor had nothing, is equavalent with clearing all responsibilities from this UniqueArray.
UniqueArray<Type> & operator = ( const UniqueArray<Type> &donor );
/// Accesses the instance at index i of this UniqeArray's owned dynamic array.
/// Will crash if out-of-bound or there is no assigned array.
//! Accesses the instance at index i of this UniqeArray's owned dynamic array.
//! Will crash if out-of-bound or there is no assigned array.
template<typename Index> Type & operator [] ( Index i );
/// Accesses the instance at index i of this UniqeArray's owned dynamic array.
/// Will crash if out-of-bound or there is no assigned array.
//! Accesses the instance at index i of this UniqeArray's owned dynamic array.
//! Will crash if out-of-bound or there is no assigned array.
template<typename Index> const Type & operator [] ( Index i ) const;
/// If true, this UniqueArray have a current ownership/responsibility of a dynamic instance.
//! If true, this UniqueArray have a current ownership/responsibility of a dynamic instance.
operator bool () const;
/// This UniqueArray drops all claims of ownership/responsibility and returns the dynamic array. Now it is your responsibility to delete.
//! This UniqueArray drops all claims of ownership/responsibility and returns the dynamic array. Now it is your responsibility to delete.
Type* Release();
/// (inline) If true, this UniqueArray have a current ownership/responsibility of a dynamic array.
//! (inline) If true, this UniqueArray have a current ownership/responsibility of a dynamic array.
bool HaveOwnership() const;
private:
@ -215,7 +215,7 @@ namespace Utility
inline ValueType Degree( const ValueType &radian )
{ return radian * (180.0f / 3.1415926535897932384626433832795f); }
// SPECIALIZATIONS //////////////////////////////////////////
// SPECIALIZATIONS //!//!//!//!//!//!//!//!//!//!//!//!//!//!
template<> inline char Average<char>( const char &valueA, const char &valueB )
{ return (valueA + valueB) >> 1; }

22
Code/OysterPhysics3D/Box.cpp
View File

@ -31,28 +31,28 @@ Box & Box::operator = ( const Box &box )
return ::Utility::DynamicMemory::UniquePointer<ICollideable>( new Box(*this) );
}
bool Box::Intersects( const ICollideable *target ) const
bool Box::Intersects( const ICollideable &target ) const
{
switch( target->type )
switch( target.type )
{
case Type_universe: return true;
case Type_point: return Utility::Intersect( *this, *(Point*)target );
case Type_ray: return Utility::Intersect( *this, *(Ray*)target, ((Ray*)target)->collisionDistance );
case Type_sphere: return Utility::Intersect( *this, *(Sphere*)target );
case Type_plane: return Utility::Intersect( *this, *(Plane*)target );
case Type_point: return Utility::Intersect( *this, *(Point*)&target );
case Type_ray: return Utility::Intersect( *this, *(Ray*)&target, ((Ray*)&target)->collisionDistance );
case Type_sphere: return Utility::Intersect( *this, *(Sphere*)&target );
case Type_plane: return Utility::Intersect( *this, *(Plane*)&target );
// case Type_triangle: return false; // TODO: :
case Type_box_axis_aligned: return Utility::Intersect( *this, *(BoxAxisAligned*)target );
case Type_box: return Utility::Intersect( *this, *(Box*)target );
case Type_box_axis_aligned: return Utility::Intersect( *this, *(BoxAxisAligned*)&target );
case Type_box: return Utility::Intersect( *this, *(Box*)&target );
// case Type_frustrum: return false; // TODO: :
default: return false;
}
}
bool Box::Contains( const ICollideable *target ) const
bool Box::Contains( const ICollideable &target ) const
{
switch( target->type )
switch( target.type )
{
case Type_point: return Utility::Intersect( *this, *(Point*)target );
case Type_point: return Utility::Intersect( *this, *(Point*)&target );
// case Type_sphere: return false; // TODO:
// case Type_triangle: return false; // TODO:
// case Type_box_axis_aligned: return false; // TODO:

4
Code/OysterPhysics3D/Box.h
View File

@ -33,8 +33,8 @@ namespace Oyster { namespace Collision3D
Box & operator = ( const Box &box );
virtual ::Utility::DynamicMemory::UniquePointer<ICollideable> Clone( ) const;
bool Intersects( const ICollideable *target ) const;
bool Contains( const ICollideable *target ) const;
bool Intersects( const ICollideable &target ) const;
bool Contains( const ICollideable &target ) const;
};
} }

18
Code/OysterPhysics3D/BoxAxisAligned.cpp
View File

@ -24,26 +24,26 @@ BoxAxisAligned & BoxAxisAligned::operator = ( const BoxAxisAligned &box )
::Utility::DynamicMemory::UniquePointer<ICollideable> BoxAxisAligned::Clone( ) const
{ return ::Utility::DynamicMemory::UniquePointer<ICollideable>( new BoxAxisAligned(*this) ); }
bool BoxAxisAligned::Intersects( const ICollideable *target ) const
bool BoxAxisAligned::Intersects( const ICollideable &target ) const
{
switch( target->type )
switch( target.type )
{
case Type_universe: return true;
case Type_point: return Utility::Intersect( *this, *(Point*)target );
case Type_ray: return Utility::Intersect( *this, *(Ray*)target, ((Ray*)target)->collisionDistance );
case Type_sphere: return Utility::Intersect( *this, *(Sphere*)target );
case Type_plane: return Utility::Intersect( *this, *(Plane*)target );
case Type_point: return Utility::Intersect( *this, *(Point*)&target );
case Type_ray: return Utility::Intersect( *this, *(Ray*)&target, ((Ray*)&target)->collisionDistance );
case Type_sphere: return Utility::Intersect( *this, *(Sphere*)&target );
case Type_plane: return Utility::Intersect( *this, *(Plane*)&target );
// case Type_triangle: return false; // TODO:
case Type_box_axis_aligned: return Utility::Intersect( *this, *(BoxAxisAligned*)target );
case Type_box_axis_aligned: return Utility::Intersect( *this, *(BoxAxisAligned*)&target );
// case Type_box: return false; // TODO:
// case Type_frustrum: return false; // TODO:
default: return false;
}
}
bool BoxAxisAligned::Contains( const ICollideable *target ) const
bool BoxAxisAligned::Contains( const ICollideable &target ) const
{
switch( target->type )
switch( target.type )
{
// case Type_point: return false; // TODO:
// case Type_sphere: return false; // TODO:

4
Code/OysterPhysics3D/BoxAxisAligned.h
View File

@ -28,8 +28,8 @@ namespace Oyster { namespace Collision3D
BoxAxisAligned & operator = ( const BoxAxisAligned &box );
virtual ::Utility::DynamicMemory::UniquePointer<ICollideable> Clone( ) const;
bool Intersects( const ICollideable *target ) const;
bool Contains( const ICollideable *target ) const;
bool Intersects( const ICollideable &target ) const;
bool Contains( const ICollideable &target ) const;
};
} }

24
Code/OysterPhysics3D/Frustrum.cpp
View File

@ -191,29 +191,29 @@ void Frustrum::WriteToByte( unsigned int &nextIndex, unsigned char targetMem[] )
::Utility::DynamicMemory::UniquePointer<ICollideable> Frustrum::Clone( ) const
{ return ::Utility::DynamicMemory::UniquePointer<ICollideable>( new Frustrum(*this) ); }
bool Frustrum::Intersects( const ICollideable *target ) const
bool Frustrum::Intersects( const ICollideable &target ) const
{
switch( target->type )
switch( target.type )
{
case Type_universe: return true;
case Type_point: return Utility::Intersect( *this, *(Point*)target );
case Type_ray: return Utility::Intersect( *this, *(Ray*)target, ((Ray*)target)->collisionDistance );
case Type_sphere: return Utility::Intersect( *this, *(Sphere*)target );
case Type_plane: return Utility::Intersect( *this, *(Plane*)target );
case Type_point: return Utility::Intersect( *this, *(Point*)&target );
case Type_ray: return Utility::Intersect( *this, *(Ray*)&target, ((Ray*)&target)->collisionDistance );
case Type_sphere: return Utility::Intersect( *this, *(Sphere*)&target );
case Type_plane: return Utility::Intersect( *this, *(Plane*)&target );
// case Type_triangle: return false; // TODO:
case Type_box_axis_aligned: return Utility::Intersect( *this, *(BoxAxisAligned*)target );
case Type_box: return Utility::Intersect( *this, *(Box*)target );
case Type_frustrum: return Utility::Intersect( *this, *(Frustrum*)target );
case Type_box_axis_aligned: return Utility::Intersect( *this, *(BoxAxisAligned*)&target );
case Type_box: return Utility::Intersect( *this, *(Box*)&target );
case Type_frustrum: return Utility::Intersect( *this, *(Frustrum*)&target );
// case Type_line: return false; // TODO:
default: return false;
}
}
bool Frustrum::Contains( const ICollideable *target ) const
bool Frustrum::Contains( const ICollideable &target ) const
{
switch( target->type )
switch( target.type )
{
case Type_point: return Utility::Intersect( *this, *(Point*)target );
case Type_point: return Utility::Intersect( *this, *(Point*)&target );
// case Type_ray: return false; // TODO:
// case Type_sphere: return false; // TODO:
// case Type_plane: return false; // TODO:

4
Code/OysterPhysics3D/Frustrum.h
View File

@ -38,8 +38,8 @@ namespace Oyster { namespace Collision3D
void WriteToByte( unsigned char targetMem[], unsigned int &nextIndex ) const; /// DEPRECATED
virtual ::Utility::DynamicMemory::UniquePointer<ICollideable> Clone( ) const;
bool Intersects( const ICollideable *target ) const;
bool Contains( const ICollideable *target ) const;
bool Intersects( const ICollideable &target ) const;
bool Contains( const ICollideable &target ) const;
};
// INLINE IMPLEMENTATIONS ///////////////////////////////////////

6
Code/OysterPhysics3D/ICollideable.h
View File

@ -8,7 +8,7 @@
#include "Utilities.h"
namespace Oyster { namespace Collision3D /// Contains a collection of 3D shapes and intercollission algorithms.
namespace Oyster { namespace Collision3D //! Contains a collection of 3D shapes and intercollission algorithms.
{
class ICollideable
{
@ -34,8 +34,8 @@ namespace Oyster { namespace Collision3D /// Contains a collection of 3D shapes
virtual ~ICollideable();
virtual ::Utility::DynamicMemory::UniquePointer<ICollideable> Clone( ) const = 0;
virtual bool Intersects( const ICollideable *target ) const = 0;
virtual bool Contains( const ICollideable *target ) const = 0;
virtual bool Intersects( const ICollideable &target ) const = 0;
virtual bool Contains( const ICollideable &target ) const = 0;
};
} }
#endif

6
Code/OysterPhysics3D/Line.cpp
View File

@ -23,9 +23,9 @@ Line & Line::operator = ( const Line &line )
::Utility::DynamicMemory::UniquePointer<ICollideable> Line::Clone( ) const
{ return ::Utility::DynamicMemory::UniquePointer<ICollideable>( new Line(*this) ); }
bool Line::Intersects( const ICollideable *target ) const
bool Line::Intersects( const ICollideable &target ) const
{
if( target->type == Type_universe )
if( target.type == Type_universe )
{
this->ray.collisionDistance = 0.0f;
return true;
@ -38,5 +38,5 @@ bool Line::Intersects( const ICollideable *target ) const
return false;
}
bool Line::Contains( const ICollideable *target ) const
bool Line::Contains( const ICollideable &target ) const
{ /* TODO: : */ return false; }

4
Code/OysterPhysics3D/Line.h
View File

@ -29,8 +29,8 @@ namespace Oyster { namespace Collision3D
Line & operator = ( const Line &line );
virtual ::Utility::DynamicMemory::UniquePointer<ICollideable> Clone( ) const;
bool Intersects( const ICollideable *target ) const;
bool Contains( const ICollideable *target ) const;
bool Intersects( const ICollideable &target ) const;
bool Contains( const ICollideable &target ) const;
};
} }

26
Code/OysterPhysics3D/Plane.cpp
View File

@ -22,31 +22,31 @@ Plane & Plane::operator = ( const Plane &plane )
::Utility::DynamicMemory::UniquePointer<ICollideable> Plane::Clone( ) const
{ return ::Utility::DynamicMemory::UniquePointer<ICollideable>( new Plane(*this) ); }
bool Plane::Intersects( const ICollideable *target ) const
bool Plane::Intersects( const ICollideable &target ) const
{
switch( target->type )
switch( target.type )
{
case Type_universe: return true;
case Type_point: return Utility::Intersect( *this, *(Point*)target );
case Type_ray: return Utility::Intersect( *this, *(Ray*)target, ((Ray*)target)->collisionDistance );
case Type_sphere: return Utility::Intersect( *this, *(Sphere*)target );
case Type_plane: return Utility::Intersect( *this, *(Plane*)target );
case Type_point: return Utility::Intersect( *this, *(Point*)&target );
case Type_ray: return Utility::Intersect( *this, *(Ray*)&target, ((Ray*)&target)->collisionDistance );
case Type_sphere: return Utility::Intersect( *this, *(Sphere*)&target );
case Type_plane: return Utility::Intersect( *this, *(Plane*)&target );
// case Type_triangle: return false; // TODO:
case Type_box_axis_aligned: return Utility::Intersect( *(BoxAxisAligned*)target, *this );
case Type_box: return Utility::Intersect( *(Box*)target, *this );
case Type_box_axis_aligned: return Utility::Intersect( *(BoxAxisAligned*)&target, *this );
case Type_box: return Utility::Intersect( *(Box*)&target, *this );
case Type_frustrum: return false; // TODO:
case Type_line: return false; // TODO:
default: return false;
}
}
bool Plane::Contains( const ICollideable *target ) const
bool Plane::Contains( const ICollideable &target ) const
{
switch( target->type )
switch( target.type )
{
case Type_point: return Utility::Intersect( *this, *(Point*)target );
case Type_ray: return Utility::Contains( *this, *(Ray*)target );
case Type_plane: return Utility::Contains( *this, *(Plane*)target );
case Type_point: return Utility::Intersect( *this, *(Point*)&target );
case Type_ray: return Utility::Contains( *this, *(Ray*)&target );
case Type_plane: return Utility::Contains( *this, *(Plane*)&target );
// case Type_triangle: return false; // TODO:
default: return false;
}

4
Code/OysterPhysics3D/Plane.h
View File

@ -28,8 +28,8 @@ namespace Oyster { namespace Collision3D
Plane & operator = ( const Plane &plane );
virtual ::Utility::DynamicMemory::UniquePointer<ICollideable> Clone( ) const;
bool Intersects( const ICollideable *target ) const;
bool Contains( const ICollideable *target ) const;
bool Intersects( const ICollideable &target ) const;
bool Contains( const ICollideable &target ) const;
};
} }

22
Code/OysterPhysics3D/Point.cpp
View File

@ -21,28 +21,28 @@ Point & Point::operator = ( const Point &point )
::Utility::DynamicMemory::UniquePointer<ICollideable> Point::Clone( ) const
{ return ::Utility::DynamicMemory::UniquePointer<ICollideable>( new Point(*this) ); }
bool Point::Intersects( const ICollideable *target ) const
bool Point::Intersects( const ICollideable &target ) const
{
switch( target->type )
switch( target.type )
{
case Type_universe: return true;
case Type_point: return Utility::Intersect( *this, *(Point*)target );
case Type_ray: return Utility::Intersect( *(Ray*)target, *this, ((Ray*)target)->collisionDistance );
case Type_sphere: Utility::Intersect( *(Sphere*)target, *this );
case Type_plane: return Utility::Intersect( *(Plane*)target, *this );
case Type_point: return Utility::Intersect( *this, *(Point*)&target );
case Type_ray: return Utility::Intersect( *(Ray*)&target, *this, ((Ray*)&target)->collisionDistance );
case Type_sphere: Utility::Intersect( *(Sphere*)&target, *this );
case Type_plane: return Utility::Intersect( *(Plane*)&target, *this );
//case Type_triangle: return false; // TODO:
case Type_box_axis_aligned: return Utility::Intersect( *(BoxAxisAligned*)target, *this );
case Type_box: return Utility::Intersect( *(Box*)target, *this );
case Type_box_axis_aligned: return Utility::Intersect( *(BoxAxisAligned*)&target, *this );
case Type_box: return Utility::Intersect( *(Box*)&target, *this );
case Type_frustrum: return false; // TODO:
default: return false;
}
}
bool Point::Contains( const ICollideable *target ) const
bool Point::Contains( const ICollideable &target ) const
{
switch( target->type )
switch( target.type )
{
case Type_point: return Utility::Intersect( *this, *(Point*)target );
case Type_point: return Utility::Intersect( *this, *(Point*)&target );
default: return false;
}
}

4
Code/OysterPhysics3D/Point.h
View File

@ -27,8 +27,8 @@ namespace Oyster { namespace Collision3D
Point & operator = ( const Point &point );
virtual ::Utility::DynamicMemory::UniquePointer<ICollideable> Clone( ) const;
bool Intersects( const ICollideable *target ) const;
bool Contains( const ICollideable *target ) const;
bool Intersects( const ICollideable &target ) const;
bool Contains( const ICollideable &target ) const;
};
} }

24
Code/OysterPhysics3D/Ray.cpp
View File

@ -22,31 +22,31 @@ Ray & Ray::operator = ( const Ray &ray )
::Utility::DynamicMemory::UniquePointer<ICollideable> Ray::Clone( ) const
{ return ::Utility::DynamicMemory::UniquePointer<ICollideable>( new Ray(*this) ); }
bool Ray::Intersects( const ICollideable *target ) const
bool Ray::Intersects( const ICollideable &target ) const
{
switch( target->type )
switch( target.type )
{
case Type_universe:
this->collisionDistance = 0.0f;
return true;
case Type_point: return Utility::Intersect( *this, *(Point*)target, this->collisionDistance );
case Type_ray: return Utility::Intersect( *this, *(Ray*)target, this->collisionDistance, ((Ray*)target)->collisionDistance );
case Type_sphere: return Utility::Intersect( *(Sphere*)target, *this, this->collisionDistance );
case Type_plane: return Utility::Intersect( *(Plane*)target, *this, this->collisionDistance );
case Type_point: return Utility::Intersect( *this, *(Point*)&target, this->collisionDistance );
case Type_ray: return Utility::Intersect( *this, *(Ray*)&target, this->collisionDistance, ((Ray*)&target)->collisionDistance );
case Type_sphere: return Utility::Intersect( *(Sphere*)&target, *this, this->collisionDistance );
case Type_plane: return Utility::Intersect( *(Plane*)&target, *this, this->collisionDistance );
// case Type_triangle: return false; // TODO:
case Type_box_axis_aligned: return Utility::Intersect( *(BoxAxisAligned*)target, *this, this->collisionDistance );
case Type_box: return Utility::Intersect( *(Box*)target, *this, this->collisionDistance );
case Type_box_axis_aligned: return Utility::Intersect( *(BoxAxisAligned*)&target, *this, this->collisionDistance );
case Type_box: return Utility::Intersect( *(Box*)&target, *this, this->collisionDistance );
case Type_frustrum: return false; // TODO:
default: return false;
}
}
bool Ray::Contains( const ICollideable *target ) const
bool Ray::Contains( const ICollideable &target ) const
{
switch( target->type )
switch( target.type )
{
case Type_point: return Utility::Intersect( *this, *(Point*)target, this->collisionDistance );
case Type_ray: Utility::Contains( *this, *(Ray*)target );
case Type_point: return Utility::Intersect( *this, *(Point*)&target, this->collisionDistance );
case Type_ray: Utility::Contains( *this, *(Ray*)&target );
default: return false;
}
}

4
Code/OysterPhysics3D/Ray.h
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@ -36,8 +36,8 @@ namespace Oyster { namespace Collision3D
Ray & operator = ( const Ray &ray );
virtual ::Utility::DynamicMemory::UniquePointer<ICollideable> Clone( ) const;
bool Intersects( const ICollideable *target ) const;
bool Contains( const ICollideable *target ) const;
bool Intersects( const ICollideable &target ) const;
bool Contains( const ICollideable &target ) const;
};
} }

50
Code/OysterPhysics3D/RigidBody.cpp
View File

@ -36,6 +36,51 @@ RigidBody & RigidBody::operator = ( const RigidBody &body )
return *this;
}
bool RigidBody::operator == ( const RigidBody &body )
{
if( this->box.center != body.box.center )
{
return false;
}
if( this->box.rotation != body.box.rotation )
{
return false;
}
if( this->box.boundingOffset != body.box.boundingOffset )
{
return false;
}
if( this->angularMomentum != body.angularMomentum )
{
return false;
}
if( this->linearMomentum != body.linearMomentum )
{
return false;
}
if( this->impulseTorqueSum != body.impulseTorqueSum )
{
return false;
}
if( this->impulseForceSum != body.impulseForceSum )
{
return false;
}
return true;
}
bool RigidBody::operator != ( const RigidBody &body )
{
return !this->operator==( body );
}
void RigidBody::Update_LeapFrog( Float deltaTime )
{ // by Dan Andersson: Euler leap frog update when Runga Kutta is not needed
@ -287,6 +332,11 @@ void RigidBody::SetCenter( const Float3 &worldPos )
this->box.center = worldPos;
}
void RigidBody::SetRotation( const Float4x4 &r )
{ // by Dan Andersson
this->box.rotation = r;
}
void RigidBody::SetImpulseTorque( const Float3 &worldT )
{ // by Dan Andersson
this->impulseTorqueSum = worldT;

4
Code/OysterPhysics3D/RigidBody.h
View File

@ -24,6 +24,9 @@ namespace Oyster { namespace Physics3D
RigidBody & operator = ( const RigidBody &body );
bool operator == ( const RigidBody &body );
bool operator != ( const RigidBody &body );
void Update_LeapFrog( ::Oyster::Math::Float deltaTime );
void ApplyImpulseForce( const ::Oyster::Math::Float3 &worldF );
void ApplyImpulseForceAt( const ::Oyster::Math::Float3 &worldF, const ::Oyster::Math::Float3 &worldPos );
@ -76,6 +79,7 @@ namespace Oyster { namespace Physics3D
void SetOrientation( const ::Oyster::Math::Float4x4 &o );
void SetSize( const ::Oyster::Math::Float3 &widthHeight );
void SetCenter( const ::Oyster::Math::Float3 &worldPos );
void SetRotation( const ::Oyster::Math::Float4x4 &r );
void SetImpulseTorque( const ::Oyster::Math::Float3 &worldT );
void SetAngularMomentum( const ::Oyster::Math::Float3 &worldH );

24
Code/OysterPhysics3D/Sphere.cpp
View File

@ -18,29 +18,29 @@ Sphere & Sphere::operator = ( const Sphere &sphere )
::Utility::DynamicMemory::UniquePointer<ICollideable> Sphere::Clone( ) const
{ return ::Utility::DynamicMemory::UniquePointer<ICollideable>( new Sphere(*this) ); }
bool Sphere::Intersects( const ICollideable *target ) const
bool Sphere::Intersects( const ICollideable &target ) const
{
switch( target->type )
switch( target.type )
{
case Type_universe: return true;
case Type_point: return Utility::Intersect( *this, *(Point*)target );
case Type_ray: return Utility::Intersect( *this, *(Ray*)target, ((Ray*)target)->collisionDistance );
case Type_sphere: Utility::Intersect( *this, *(Sphere*)target );
case Type_plane: return Utility::Intersect( *(Plane*)target, *this );
case Type_point: return Utility::Intersect( *this, *(Point*)&target );
case Type_ray: return Utility::Intersect( *this, *(Ray*)&target, ((Ray*)&target)->collisionDistance );
case Type_sphere: Utility::Intersect( *this, *(Sphere*)&target );
case Type_plane: return Utility::Intersect( *(Plane*)&target, *this );
// case Type_triangle: return false; // TODO:
case Type_box_axis_aligned: return Utility::Intersect( *(BoxAxisAligned*)target, *this );
case Type_box: return Utility::Intersect( *(Box*)target, *this );
case Type_box_axis_aligned: return Utility::Intersect( *(BoxAxisAligned*)&target, *this );
case Type_box: return Utility::Intersect( *(Box*)&target, *this );
case Type_frustrum: return false; // TODO:
default: return false;
}
}
bool Sphere::Contains( const ICollideable *target ) const
bool Sphere::Contains( const ICollideable &target ) const
{
switch( target->type )
switch( target.type )
{
case Type_point: return Utility::Intersect( *this, *(Point*)target );
case Type_sphere: return Utility::Contains( *this, *(Sphere*)target );
case Type_point: return Utility::Intersect( *this, *(Point*)&target );
case Type_sphere: return Utility::Contains( *this, *(Sphere*)&target );
// case Type_triangle: return false; // TODO:
case Type_box_axis_aligned: return false; // TODO:
case Type_box: return false; // TODO:

4
Code/OysterPhysics3D/Sphere.h
View File

@ -27,8 +27,8 @@ namespace Oyster { namespace Collision3D
Sphere & operator = ( const Sphere &sphere );
virtual ::Utility::DynamicMemory::UniquePointer<ICollideable> Clone( ) const;
bool Intersects( const ICollideable *target ) const;
bool Contains( const ICollideable *target ) const;
bool Intersects( const ICollideable &target ) const;
bool Contains( const ICollideable &target ) const;
};
} }

10
Code/OysterPhysics3D/Universe.cpp
View File

@ -13,15 +13,15 @@ Universe & Universe::operator = ( const Universe &universe )
UniquePointer<ICollideable> Universe::Clone( ) const
{ return UniquePointer<ICollideable>( new Universe(*this) ); }
bool Universe::Intersects( const ICollideable *target ) const
bool Universe::Intersects( const ICollideable &target ) const
{ // universe touches everything
switch( target->type )
switch( target.type )
{
case Type_ray:
((Ray*)target)->collisionDistance = 0.0f;
((Ray*)&target)->collisionDistance = 0.0f;
break;
case Type_line:
((Line*)target)->ray.collisionDistance = 0.0f;
((Line*)&target)->ray.collisionDistance = 0.0f;
break;
default: break;
}
@ -29,6 +29,6 @@ bool Universe::Intersects( const ICollideable *target ) const
return true;
}
bool Universe::Contains( const ICollideable *target ) const
bool Universe::Contains( const ICollideable &target ) const
{ return true; } // universe contains everything

4
Code/OysterPhysics3D/Universe.h
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@ -19,8 +19,8 @@ namespace Oyster { namespace Collision3D
Universe & operator = ( const Universe &universe );
virtual ::Utility::DynamicMemory::UniquePointer<ICollideable> Clone( ) const;
bool Intersects( const ICollideable *target ) const;
bool Contains( const ICollideable *target ) const;
bool Intersects( const ICollideable &target ) const;
bool Contains( const ICollideable &target ) const;
};
} }