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Dans fix part of RigidBody.cpp DONE

This commit is contained in:
Dander7BD 2013-11-20 11:44:54 +01:00
parent 1b2c49457c
commit caa61d3ae9
1 changed files with 23 additions and 39 deletions
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62
Code/OysterPhysics3D/RigidBody.cpp
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@ -79,68 +79,56 @@ void RigidBody::Update_LeapFrog( Float deltaTime )
this->impulseTorqueSum = Float3::null;
}
void RigidBody::ApplyImpulseForce( const Float3 &f )
void RigidBody::ApplyImpulseForce( const Float3 &worldF )
{ // by Dan Andersson
this->impulseForceSum += f;
this->impulseForceSum += worldF;
}
void RigidBody::ApplyImpulseForceAt_Local( const Float3 &localForce, const Float3 &localOffset )
void RigidBody::ApplyImpulseForceAt( const Float3 &worldF, const Float3 &worldPos )
{ // by Dan Andersson
if( localOffset != Float3::null )
Float3 worldOffset = worldPos - this->box.center;
if( worldOffset != Float3::null )
{
this->impulseForceSum += VectorProjection( localForce, localOffset );
this->impulseTorqueSum += Formula::ImpulseTorque( localForce, localOffset );
this->impulseForceSum += VectorProjection( worldF, worldOffset );
this->impulseTorqueSum += Formula::ImpulseTorque( worldF, worldOffset );
}
else
{
this->impulseForceSum += localForce;
this->impulseForceSum += worldF;
}
}
void RigidBody::ApplyImpulseForceAt_World( const Float3 &worldForce, const Float3 &worldPos )
void RigidBody::ApplyLinearImpulseAcceleration( const Float3 &worldA )
{ // by Dan Andersson
Float4x4 view = this->GetView();
this->ApplyImpulseForceAt_Local( (view * Float4(worldForce, 0.0f)).xyz,
(view * Float4(worldPos, 1.0f)).xyz ); // should not be any disform thus result.w = 1.0f
this->impulseForceSum += Formula::ImpulseForce( this->mass, worldA );
}
void RigidBody::ApplyLinearImpulseAcceleration( const Float3 &a )
void RigidBody::ApplyLinearImpulseAccelerationAt( const Float3 &worldA, const Float3 &worldPos )
{ // by Dan Andersson
this->impulseForceSum += Formula::ImpulseForce( this->mass, a );
}
void RigidBody::ApplyLinearImpulseAccelerationAt_Local( const Float3 &localImpulseLinearAcc, const Float3 &localOffset )
{ // by Dan Andersson
if( localOffset != Float3::null )
Float3 worldOffset = worldPos - this->box.center;
if( worldOffset != Float3::null )
{
this->impulseForceSum += Formula::ImpulseForce( this->mass, VectorProjection(localImpulseLinearAcc, localOffset) );
this->impulseForceSum += Formula::ImpulseForce( this->mass, VectorProjection(worldA, worldOffset) );
// tanAcc = angularAcc x localPosition
// angularAcc = localPosition x tanAcc = localPosition x linearAcc
// T = I * angularAcc
this->impulseTorqueSum += Formula::ImpulseTorque( this->momentOfInertiaTensor, Formula::AngularImpulseAcceleration(localImpulseLinearAcc, localOffset) );
this->impulseTorqueSum += Formula::ImpulseTorque( this->momentOfInertiaTensor, Formula::AngularImpulseAcceleration(worldA, worldOffset) );
}
else
{
this->impulseForceSum += Formula::ImpulseForce( this->mass, localImpulseLinearAcc );
this->impulseForceSum += Formula::ImpulseForce( this->mass, worldA );
}
}
void RigidBody::ApplyLinearImpulseAccelerationAt_World( const Float3 &worldImpulseLinearAcc, const Float3 &worldPos )
void RigidBody::ApplyImpulseTorque( const Float3 &worldT )
{ // by Dan Andersson
Float4x4 view = this->GetView();
this->ApplyLinearImpulseAccelerationAt_Local( (view * Float4(worldImpulseLinearAcc, 0.0f)).xyz,
(view * Float4(worldPos, 1.0f)).xyz ); // should not be any disform thus result.w = 1.0f
this->impulseTorqueSum += worldT;
}
void RigidBody::ApplyImpulseTorque( const Float3 &t )
void RigidBody::ApplyAngularImpulseAcceleration( const Float3 &worldA )
{ // by Dan Andersson
this->impulseTorqueSum += t;
}
void RigidBody::ApplyAngularImpulseAcceleration( const Float3 &a )
{ // by Dan Andersson
this->impulseTorqueSum += Formula::ImpulseTorque( this->momentOfInertiaTensor, a );
this->impulseTorqueSum += Formula::ImpulseTorque( this->momentOfInertiaTensor, worldA );
}
Float4x4 & RigidBody::AccessOrientation()
@ -248,14 +236,10 @@ Float3 RigidBody::GetLinearVelocity() const
return Formula::LinearVelocity( this->mass, this->linearMomentum );
}
Float3 RigidBody::GetTangentialImpulseForceAt_Local( const Float3 &localPos ) const
Float3 RigidBody::GetTangentialImpulseForceAt( const Float3 &worldPos ) const
{ // by Dan Andersson
return Formula::TangentialImpulseForce( this->impulseTorqueSum, localPos );
}
Float3 RigidBody::GetTangentialImpulseForceAt_World( const Float3 &worldPos ) const
{ // by Dan Andersson
return this->GetTangentialImpulseForceAt_Local( (this->GetView() * Float4(worldPos, 1.0f)).xyz ); // should not be any disform thus result.w = 1.0f
Float3 worldOffset = worldPos - this->box.center;
return Formula::TangentialImpulseForce( this->impulseTorqueSum, worldOffset );
}
// Dan