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@ -284,30 +284,38 @@ namespace LinearAlgebra3D
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}
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template<typename ScalarType>
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::LinearAlgebra::Matrix4x4<ScalarType> & OrientationMatrix( const ::LinearAlgebra::Vector3<ScalarType> &sumDeltaAngularAxis, const ::LinearAlgebra::Vector3<ScalarType> &sumTranslation, ::LinearAlgebra::Matrix4x4<ScalarType> &targetMem = ::LinearAlgebra::Matrix4x4<ScalarType>() )
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{ /// TODO: not tested
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ScalarType radian = sumDeltaAngularAxis.Dot( sumDeltaAngularAxis );
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if( radian > 0 )
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{
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radian = ::std::sqrt( radian );
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::LinearAlgebra::Vector3<ScalarType> axis = sumDeltaAngularAxis / radian;
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RotationMatrix( axis, radian, targetMem );
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}
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else targetMem = ::LinearAlgebra::Matrix4x4<ScalarType>::identity;
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::LinearAlgebra::Matrix4x4<ScalarType> & OrientationMatrix( const ::LinearAlgebra::Vector3<ScalarType> &normalizedAxis, const ScalarType &deltaRadian, const ::LinearAlgebra::Vector3<ScalarType> &sumTranslation, ::LinearAlgebra::Matrix4x4<ScalarType> &targetMem = ::LinearAlgebra::Matrix4x4<ScalarType>() )
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{ /** @todo TODO: not tested */
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RotationMatrix( normalizedAxis, deltaRadian, targetMem );
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targetMem.v[3].xyz = sumTranslation;
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return targetMem;
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}
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template<typename ScalarType>
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::LinearAlgebra::Matrix4x4<ScalarType> & OrientationMatrix( const ::LinearAlgebra::Vector3<ScalarType> &sumDeltaAngularAxis, const ::LinearAlgebra::Vector3<ScalarType> &sumTranslation, const ::LinearAlgebra::Vector3<ScalarType> ¢erOfRotation, ::LinearAlgebra::Matrix4x4<ScalarType> &targetMem = ::LinearAlgebra::Matrix4x4<ScalarType>() )
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{ /// TODO: not tested
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::LinearAlgebra::Matrix4x4<ScalarType> & OrientationMatrix( const ::LinearAlgebra::Vector3<ScalarType> &sumDeltaAngularAxis, const ::LinearAlgebra::Vector3<ScalarType> &sumTranslation, ::LinearAlgebra::Matrix4x4<ScalarType> &targetMem = ::LinearAlgebra::Matrix4x4<ScalarType>() )
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{ /** @todo TODO: not tested */
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ScalarType radian = sumDeltaAngularAxis.Dot( sumDeltaAngularAxis );
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if( radian > 0 )
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{
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radian = ::std::sqrt( radian );
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::LinearAlgebra::Vector3<ScalarType> axis = sumDeltaAngularAxis / radian;
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RotationMatrix( axis, radian, targetMem );
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return OrientationMatrix( sumDeltaAngularAxis / radian, radian, targetMem );
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}
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else
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{
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targetMem = ::LinearAlgebra::Matrix4x4<ScalarType>::identity;
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targetMem.v[3].xyz = sumTranslation;
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return targetMem;
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}
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}
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template<typename ScalarType>
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::LinearAlgebra::Matrix4x4<ScalarType> & OrientationMatrix( const ::LinearAlgebra::Vector3<ScalarType> &sumDeltaAngularAxis, const ::LinearAlgebra::Vector3<ScalarType> &sumTranslation, const ::LinearAlgebra::Vector3<ScalarType> ¢erOfRotation, ::LinearAlgebra::Matrix4x4<ScalarType> &targetMem = ::LinearAlgebra::Matrix4x4<ScalarType>() )
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{ /** @todo TODO: not tested */
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ScalarType radian = sumDeltaAngularAxis.Dot( sumDeltaAngularAxis );
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if( radian > 0 )
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{
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radian = ::std::sqrt( radian );
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RotationMatrix( sumDeltaAngularAxis / radian, radian, targetMem );
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}
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else targetMem = ::LinearAlgebra::Matrix4x4<ScalarType>::identity;
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@ -337,7 +345,7 @@ namespace LinearAlgebra3D
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*/
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template<typename ScalarType>
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::LinearAlgebra::Matrix4x4<ScalarType> & ProjectionMatrix_Orthographic( const ScalarType &width, const ScalarType &height, const ScalarType &nearClip, const ScalarType &farClip, ::LinearAlgebra::Matrix4x4<ScalarType> &targetMem = ::LinearAlgebra::Matrix4x4<ScalarType>() )
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{ /// TODO: not tested
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{ /** @todo TODO: not tested */
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ScalarType c = 1 / (nearClip - farClip);
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return targetMem = ::LinearAlgebra::Matrix4x4<ScalarType>( 2/width, 0, 0, 0,
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0, 2/height, 0, 0,
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@ -354,7 +362,7 @@ namespace LinearAlgebra3D
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*/
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template<typename ScalarType>
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::LinearAlgebra::Matrix4x4<ScalarType> & ProjectionMatrix_Perspective( const ScalarType &vertFoV, const ScalarType &aspect, const ScalarType &nearClip, const ScalarType &farClip, ::LinearAlgebra::Matrix4x4<ScalarType> &targetMem = ::LinearAlgebra::Matrix4x4<ScalarType>() )
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{ /// TODO: not tested
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{ /** @todo TODO: not tested */
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ScalarType fov = 1 / ::std::tan( vertFoV * 0.5f ),
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dDepth = farClip / (farClip - nearClip);
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return targetMem = ::LinearAlgebra::Matrix4x4<ScalarType>( fov / aspect, 0, 0, 0,
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@ -63,6 +63,9 @@ namespace Oyster { namespace Math3D
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Float4x4 & RotationMatrix( const Float &radian, const Float3 &normalizedAxis, Float4x4 &targetMem )
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{ return ::LinearAlgebra3D::RotationMatrix( normalizedAxis, radian, targetMem ); }
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Float4x4 & OrientationMatrix( const Float3 &normalizedAxis, const Float & deltaRadian, const Float3 &sumTranslation, Float4x4 &targetMem )
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{ return ::LinearAlgebra3D::OrientationMatrix( normalizedAxis, deltaRadian, sumTranslation, targetMem ); }
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Float4x4 & OrientationMatrix( const Float3 &sumDeltaAngularAxis, const Float3 &sumTranslation, Float4x4 &targetMem )
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{ return ::LinearAlgebra3D::OrientationMatrix( sumDeltaAngularAxis, sumTranslation, targetMem ); }
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@ -26,6 +26,8 @@ namespace Oyster { namespace Math /// Oyster's native math library
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typedef Float3 Vector3; // by popular demand
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typedef Float4 Vector4; // by popular demand
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const Float pi = 3.1415926535897932384626433832795f;
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||||
/// Function Highly recommended to check at start, just in case current version is using a feature that might be available.
|
||||
/// @todo TODO: create a template UniquePointer to use here
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bool IsSupported();
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@ -146,48 +148,63 @@ namespace Oyster { namespace Math3D /// Oyster's native math library specialized
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/// Please make sure normalizedAxis is normalized.
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||||
Float4x4 & RotationMatrix( const Float &radian, const Float3 &normalizedAxis, Float4x4 &targetMem = Float4x4() );
|
||||
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||||
/** Sets and returns targetMem as an orientation Matrix
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||||
* @param targetMem: is set to a rigibody matrix that rotate counterclockwise and then translates.
|
||||
/*******************************************************************
|
||||
* Sets and returns targetMem as an orientation Matrix
|
||||
* @param normalizedAxis: The normalized vector parallell with the rotationAxis.
|
||||
* @param deltaRadian: The rotation angle.
|
||||
* @param sumTranslation: sum of all the translation vectors.
|
||||
* @param targetMem: is set to a rigibody matrix that rotate counterclockwise and then translates.
|
||||
* @return targetMem
|
||||
* @todo TODO: not tested
|
||||
*******************************************************************/
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||||
Float4x4 & OrientationMatrix( const Float3 &normalizedAxis, const Float & deltaRadian, const Float3 &sumTranslation, Float4x4 &targetMem = Float4x4() );
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||||
|
||||
/*******************************************************************
|
||||
* Sets and returns targetMem as an orientation Matrix
|
||||
* @param sumDeltaAngularAxis: sum of all ( (1/I) * ( L x D ) )-vectorproducts. There I is known as "moment of inertia", L as "angular momentum vector" and D the "lever vector".
|
||||
* @param sumTranslation: sum of all the translation vectors.
|
||||
* @param targetMem: is set to a rigibody matrix that rotate counterclockwise and then translates.
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||||
* @return targetMem
|
||||
@todo TODO: not tested
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||||
*/
|
||||
* @todo TODO: not tested
|
||||
*******************************************************************/
|
||||
Float4x4 & OrientationMatrix( const Float3 &sumDeltaAngularAxis, const Float3 &sumTranslation, Float4x4 &targetMem = Float4x4() );
|
||||
|
||||
/** Sets and returns targetMem as an orientation Matrix
|
||||
* @param targetMem: is set to a rigibody matrix that revolve/rotate counterclockwise around centerOfMass and then translates.
|
||||
/*******************************************************************
|
||||
* Sets and returns targetMem as an orientation Matrix
|
||||
* @param sumDeltaAngularAxis: sum of all ( (1/I) * ( L x D ) )-vectorproducts. There I is known as "moment of inertia", L as "angular momentum vector" and D the "lever vector".
|
||||
* @param sumTranslation: sum of all the translation vectors.
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||||
* @param centerOfMass: the point the particles is to revolve around, prior to translation. Default set to null vector aka origo.
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||||
* @param targetMem: is set to a rigibody matrix that revolve/rotate counterclockwise around centerOfMass and then translates.
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||||
* @return targetMem
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||||
@todo TODO: not tested
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||||
*/
|
||||
* @todo TODO: not tested
|
||||
*******************************************************************/
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||||
Float4x4 & OrientationMatrix( const Float3 &sumDeltaAngularAxis, const Float3 &sumTranslation, const Float3 ¢erOfMass, Float4x4 &targetMem = Float4x4() );
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||||
|
||||
/// If orientationMatrix is assumed to be by all definitions a rigid orientation matrix aka rigid body matrix. Then this is a much faster inverse method.
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||||
Float4x4 & InverseOrientationMatrix( const Float4x4 &orientationMatrix, Float4x4 &targetMem = Float4x4() );
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||||
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||||
/** Creates an orthographic projection matrix designed for DirectX enviroment.
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||||
* @param targetMem; is set to an orthographic projection matrix.
|
||||
/*******************************************************************
|
||||
* Creates an orthographic projection matrix designed for DirectX enviroment.
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||||
* @param width; of the projection sample volume.
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||||
* @param height; of the projection sample volume.
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||||
* @param nearClip: Distance to the nearPlane.
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||||
* @param farClip: Distance to the farPlane.
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||||
* @param targetMem; is set to an orthographic projection matrix.
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||||
* @return targetMem
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||||
@todo TODO: not tested
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||||
*/
|
||||
* @todo TODO: not tested
|
||||
*******************************************************************/
|
||||
Float4x4 & ProjectionMatrix_Orthographic( const Float &width, const Float &height, const Float &nearClip = ::std::numeric_limits<Float>::epsilon(), const Float &farClip = ::std::numeric_limits<Float>::max(), Float4x4 &targetMem = Float4x4() );
|
||||
|
||||
/** Creates a perspective projection matrix designed for DirectX enviroment.
|
||||
* @param targetMem; is set to a perspective transform matrix.
|
||||
/*******************************************************************
|
||||
* Creates a perspective projection matrix designed for DirectX enviroment.
|
||||
* @param vertFoV; is the vertical field of vision in radians. (lookup FoV Hor+ )
|
||||
* @param aspect; is the screenratio width/height (example 16/9 or 16/10 )
|
||||
* @param nearClip: Distance to the nearPlane
|
||||
* @param farClip: Distance to the farPlane
|
||||
* @param targetMem; is set to a perspective transform matrix.
|
||||
* @return targetMem
|
||||
@todo TODO: not tested
|
||||
*/
|
||||
* @todo TODO: not tested
|
||||
*******************************************************************/
|
||||
Float4x4 & ProjectionMatrix_Perspective( const Float &verticalFoV, const Float &aspectRatio, const Float &nearClip = ::std::numeric_limits<Float>::epsilon(), const Float &farClip = ::std::numeric_limits<Float>::max(), Float4x4 &targetMem = Float4x4() );
|
||||
|
||||
/// returns the component vector of vector that is parallell with axis
|
||||
|
|
|
|||
|
|
@ -3,7 +3,7 @@
|
|||
/////////////////////////////////////////////////////////////////////
|
||||
|
||||
#include "Box.h"
|
||||
#include "OysterCollision.h"
|
||||
#include "..\OysterCollision3D.h"
|
||||
|
||||
using namespace ::Oyster::Collision3D;
|
||||
using namespace ::Oyster::Math3D;
|
||||
|
|
|
|||
|
|
@ -3,7 +3,7 @@
|
|||
/////////////////////////////////////////////////////////////////////
|
||||
|
||||
#include "BoxAxisAligned.h"
|
||||
#include "OysterCollision.h"
|
||||
#include "..\OysterCollision3D.h"
|
||||
|
||||
using namespace ::Oyster::Collision3D;
|
||||
using namespace ::Oyster::Math3D;
|
||||
|
|
|
|||
|
|
@ -3,7 +3,7 @@
|
|||
/////////////////////////////////////////////////////////////////////
|
||||
|
||||
#include "Line.h"
|
||||
#include "OysterCollision.h"
|
||||
#include "..\OysterCollision3D.h"
|
||||
|
||||
using namespace ::Oyster::Collision3D;
|
||||
using namespace ::Oyster::Math3D;
|
||||
|
|
|
|||
|
|
@ -2,7 +2,7 @@
|
|||
// Created by Dan Andersson 2013
|
||||
/////////////////////////////////////////////////////////////////////
|
||||
|
||||
#include "OysterCollision.h"
|
||||
#include "..\OysterCollision3D.h"
|
||||
#include "Utilities.h"
|
||||
#include <limits>
|
||||
|
||||
|
|
@ -3,7 +3,7 @@
|
|||
/////////////////////////////////////////////////////////////////////
|
||||
|
||||
#include "Plane.h"
|
||||
#include "OysterCollision.h"
|
||||
#include "..\OysterCollision3D.h"
|
||||
|
||||
using namespace ::Oyster::Collision3D;
|
||||
using namespace ::Oyster::Math;
|
||||
|
|
|
|||
|
|
@ -3,7 +3,7 @@
|
|||
/////////////////////////////////////////////////////////////////////
|
||||
|
||||
#include "Point.h"
|
||||
#include "OysterCollision.h"
|
||||
#include "..\OysterCollision3D.h"
|
||||
|
||||
using namespace ::Oyster::Collision3D;
|
||||
using namespace ::Oyster::Math3D;
|
||||
|
|
|
|||
|
|
@ -3,7 +3,7 @@
|
|||
/////////////////////////////////////////////////////////////////////
|
||||
|
||||
#include "Ray.h"
|
||||
#include "OysterCollision.h"
|
||||
#include "..\OysterCollision3D.h"
|
||||
|
||||
using namespace ::Oyster::Collision3D;
|
||||
using namespace ::Oyster::Math3D;
|
||||
|
|
|
|||
|
|
@ -1,5 +1,5 @@
|
|||
#include "Sphere.h"
|
||||
#include "OysterCollision.h"
|
||||
#include "..\OysterCollision3D.h"
|
||||
|
||||
using namespace ::Oyster::Collision3D;
|
||||
using namespace ::Oyster::Math;
|
||||
|
|
|
|||
|
|
@ -1,5 +1,5 @@
|
|||
#include "Universe.h"
|
||||
#include "OysterCollision.h"
|
||||
#include "..\OysterCollision3D.h"
|
||||
|
||||
using namespace ::Oyster::Collision3D;
|
||||
using namespace ::Utility::Memory;
|
||||
|
|
@ -29,6 +29,6 @@ bool Universe::Intersects( const ICollideable *target ) const
|
|||
return true;
|
||||
}
|
||||
|
||||
bool Sphere::Contains( const ICollideable *target ) const
|
||||
bool Universe::Contains( const ICollideable *target ) const
|
||||
{ return true; } // universe contains everything
|
||||
|
||||
|
|
|
|||
|
|
@ -6,17 +6,17 @@
|
|||
#ifndef OYSTER_COLLISION_3D_UTILITY_H
|
||||
#define OYSTER_COLLISION_3D_UTILITY_H
|
||||
|
||||
#include "ICollideable.h"
|
||||
#include "Universe.h"
|
||||
#include "Point.h"
|
||||
#include "Ray.h"
|
||||
#include "Sphere.h"
|
||||
#include "Plane.h"
|
||||
//#include "Triangle.h"
|
||||
#include "BoxAxisAligned.h"
|
||||
#include "Box.h"
|
||||
#include "Frustrum.h"
|
||||
#include "Line.h"
|
||||
#include "Collision\ICollideable.h"
|
||||
#include "Collision\Universe.h"
|
||||
#include "Collision\Point.h"
|
||||
#include "Collision\Ray.h"
|
||||
#include "Collision\Sphere.h"
|
||||
#include "Collision\Plane.h"
|
||||
//#include "Collision\Triangle.h"
|
||||
#include "Collision\BoxAxisAligned.h"
|
||||
#include "Collision\Box.h"
|
||||
#include "Collision\Frustrum.h"
|
||||
#include "Collision\Line.h"
|
||||
|
||||
namespace Oyster { namespace Collision3D { namespace Utility
|
||||
{
|
||||
|
|
@ -0,0 +1,103 @@
|
|||
/////////////////////////////////////////////////////////////////////
|
||||
// Created by Dan Andersson 2013
|
||||
/////////////////////////////////////////////////////////////////////
|
||||
|
||||
#ifndef OYSTER_PHYSICS_3D_H
|
||||
#define OYSTER_PHYSICS_3D_H
|
||||
|
||||
#include "OysterMath.h"
|
||||
|
||||
namespace Oyster { namespace Physics3D
|
||||
{ /// Library of 3D physics related components, alghorithms and formulas
|
||||
namespace Formula
|
||||
{ /// Library of 3D physics related formulas
|
||||
|
||||
/******************************************************************
|
||||
* Returns the linear kinetic energy of a mass in motion.
|
||||
* @todo TODO: improve doc
|
||||
******************************************************************/
|
||||
inline ::Oyster::Math::Float LinearKineticEnergy( const ::Oyster::Math::Float &mass, const ::Oyster::Math::Float3 &linearVelocity )
|
||||
{ return (0.5f * mass) * linearVelocity.Dot( linearVelocity ); }
|
||||
|
||||
/******************************************************************
|
||||
* Returns the angular kinetic energy of a mass in rotation.
|
||||
* @todo TODO: improve doc
|
||||
******************************************************************/
|
||||
inline ::Oyster::Math::Float AngularKineticEnergy( const ::Oyster::Math::Float &momentOfInertia, const ::Oyster::Math::Float3 &angularVelocity )
|
||||
{ return (0.5f * momentOfInertia) * angularVelocity.Dot( angularVelocity ); }
|
||||
|
||||
/******************************************************************
|
||||
* Returns the linear momentum of a mass in motion.
|
||||
* @todo TODO: improve doc
|
||||
******************************************************************/
|
||||
inline ::Oyster::Math::Float3 LinearMomentum( const ::Oyster::Math::Float &mass, const ::Oyster::Math::Float3 &linearVelocity )
|
||||
{ return mass * linearVelocity; }
|
||||
|
||||
/******************************************************************
|
||||
* Returns the linear velocity of a mass with momentum.
|
||||
* @todo TODO: improve doc
|
||||
******************************************************************/
|
||||
inline ::Oyster::Math::Float3 LinearVelocity( const ::Oyster::Math::Float &mass, const ::Oyster::Math::Float3 &linearMomentum )
|
||||
{ return linearMomentum / mass; }
|
||||
|
||||
/******************************************************************
|
||||
* Returns the local angular momentum of a mass in rotation.
|
||||
* @todo TODO: improve doc
|
||||
******************************************************************/
|
||||
inline ::Oyster::Math::Float3 AngularMomentum( const ::Oyster::Math::Float &momentOfInertia, const ::Oyster::Math::Float3 &angularVelocity )
|
||||
{ return momentOfInertia * angularVelocity; }
|
||||
|
||||
/******************************************************************
|
||||
* Returns the local tangential momentum at localPos, of a mass in rotation.
|
||||
* @todo TODO: improve doc
|
||||
******************************************************************/
|
||||
inline ::Oyster::Math::Float3 & TangentialLinearMomentum( const ::Oyster::Math::Float &localAngularMomentum, const ::Oyster::Math::Float3 &localPosition, ::Oyster::Math::Float3 &targetMem = ::Oyster::Math::Float3() )
|
||||
{ return targetMem = localAngularMomentum * ::Oyster::Math::Float3( -localPosition.y, localPosition.x ); }
|
||||
|
||||
/******************************************************************
|
||||
* Returns the local tangential momentum at localPos, of a mass in rotation.
|
||||
* @todo TODO: improve doc
|
||||
******************************************************************/
|
||||
inline ::Oyster::Math::Float3 & TangentialLinearMomentum( const ::Oyster::Math::Float &momentOfInertia, const ::Oyster::Math::Float3 &angularVelocity, const ::Oyster::Math::Float3 &localPosition, ::Oyster::Math::Float3 &targetMem = ::Oyster::Math::Float3() )
|
||||
{ return targetMem = AngularMomentum( momentOfInertia, angularVelocity ).Cross( localPosition ); }
|
||||
|
||||
/******************************************************************
|
||||
* Returns the local angular velocity of a mass in rotation.
|
||||
* @todo TODO: improve doc
|
||||
******************************************************************/
|
||||
inline ::Oyster::Math::Float3 AngularVelocity( const ::Oyster::Math::Float &momentOfInertia, const ::Oyster::Math::Float3 &angularMomentum )
|
||||
{ return angularMomentum / momentOfInertia; }
|
||||
|
||||
/******************************************************************
|
||||
* Returns the local tangential velocity at localPos, of a mass in rotation.
|
||||
* @todo TODO: improve doc
|
||||
******************************************************************/
|
||||
inline ::Oyster::Math::Float3 & TangentialLinearVelocity( const ::Oyster::Math::Float3 &angularVelocity, const ::Oyster::Math::Float3 &localPosition, ::Oyster::Math::Float3 &targetMem = ::Oyster::Math::Float3() )
|
||||
{ return targetMem = angularVelocity.Cross( localPosition ); }
|
||||
|
||||
/******************************************************************
|
||||
*
|
||||
* @todo TODO: improve doc
|
||||
******************************************************************/
|
||||
inline ::Oyster::Math::Float3 LinearImpulseAcceleration( ::Oyster::Math::Float mass, const ::Oyster::Math::Float3 &impulseForce )
|
||||
{ return impulseForce / mass; }
|
||||
|
||||
/******************************************************************
|
||||
*
|
||||
* @todo TODO: improve doc
|
||||
******************************************************************/
|
||||
inline ::Oyster::Math::Float3 ImpulseForce( ::Oyster::Math::Float mass, const ::Oyster::Math::Float3 &linearImpulseAcceleration )
|
||||
{ return linearImpulseAcceleration * mass; }
|
||||
|
||||
namespace MomentOfInertia
|
||||
{ /// Library of Formulas to calculate moment of inerta for simple shapes
|
||||
/** @todo TODO: add MomentOfInertia formulas */
|
||||
}
|
||||
}
|
||||
} }
|
||||
|
||||
#include "Particle.h"
|
||||
#include "RigidBody.h"
|
||||
#include "Spring.h"
|
||||
|
||||
#endif
|
||||
|
|
@ -140,7 +140,8 @@
|
|||
<ItemGroup>
|
||||
<ClCompile Include="Collision\Box.cpp" />
|
||||
<ClCompile Include="Collision\BoxAxisAligned.cpp" />
|
||||
<ClCompile Include="Collision\OysterCollision.cpp" />
|
||||
<ClCompile Include="Collision\ICollideable.cpp" />
|
||||
<ClCompile Include="Collision\OysterCollision3D.cpp" />
|
||||
<ClCompile Include="Collision\Frustrum.cpp" />
|
||||
<ClCompile Include="Collision\Line.cpp" />
|
||||
<ClCompile Include="Collision\Plane.cpp" />
|
||||
|
|
@ -148,11 +149,14 @@
|
|||
<ClCompile Include="Collision\Ray.cpp" />
|
||||
<ClCompile Include="Collision\Sphere.cpp" />
|
||||
<ClCompile Include="Collision\Universe.cpp" />
|
||||
<ClCompile Include="Physics\FluidDrag.cpp" />
|
||||
<ClCompile Include="Physics\Particle.cpp" />
|
||||
<ClCompile Include="Physics\RigidBody.cpp" />
|
||||
<ClCompile Include="Physics\Spring.cpp" />
|
||||
</ItemGroup>
|
||||
<ItemGroup>
|
||||
<ClInclude Include="Collision\Box.h" />
|
||||
<ClInclude Include="Collision\BoxAxisAligned.h" />
|
||||
<ClInclude Include="Collision\OysterCollision.h" />
|
||||
<ClInclude Include="Collision\Frustrum.h" />
|
||||
<ClInclude Include="Collision\ICollideable.h" />
|
||||
<ClInclude Include="Collision\Line.h" />
|
||||
|
|
@ -161,6 +165,12 @@
|
|||
<ClInclude Include="Collision\Ray.h" />
|
||||
<ClInclude Include="Collision\Sphere.h" />
|
||||
<ClInclude Include="Collision\Universe.h" />
|
||||
<ClInclude Include="OysterCollision3D.h" />
|
||||
<ClInclude Include="OysterPhysics3D.h" />
|
||||
<ClInclude Include="Physics\FluidDrag.h" />
|
||||
<ClInclude Include="Physics\Particle.h" />
|
||||
<ClInclude Include="Physics\RigidBody.h" />
|
||||
<ClInclude Include="Physics\Spring.h" />
|
||||
</ItemGroup>
|
||||
<ItemGroup>
|
||||
<ProjectReference Include="..\Misc\Misc.vcxproj">
|
||||
|
|
|
|||
|
|
@ -54,7 +54,22 @@
|
|||
<ClCompile Include="Collision\Universe.cpp">
|
||||
<Filter>Source Files\Collision</Filter>
|
||||
</ClCompile>
|
||||
<ClCompile Include="Collision\OysterCollision.cpp">
|
||||
<ClCompile Include="Collision\OysterCollision3D.cpp">
|
||||
<Filter>Source Files\Collision</Filter>
|
||||
</ClCompile>
|
||||
<ClCompile Include="Physics\FluidDrag.cpp">
|
||||
<Filter>Source Files\Physics</Filter>
|
||||
</ClCompile>
|
||||
<ClCompile Include="Physics\Particle.cpp">
|
||||
<Filter>Source Files\Physics</Filter>
|
||||
</ClCompile>
|
||||
<ClCompile Include="Physics\RigidBody.cpp">
|
||||
<Filter>Source Files\Physics</Filter>
|
||||
</ClCompile>
|
||||
<ClCompile Include="Physics\Spring.cpp">
|
||||
<Filter>Source Files\Physics</Filter>
|
||||
</ClCompile>
|
||||
<ClCompile Include="Collision\ICollideable.cpp">
|
||||
<Filter>Source Files\Collision</Filter>
|
||||
</ClCompile>
|
||||
</ItemGroup>
|
||||
|
|
@ -89,8 +104,23 @@
|
|||
<ClInclude Include="Collision\Universe.h">
|
||||
<Filter>Header Files\Collision</Filter>
|
||||
</ClInclude>
|
||||
<ClInclude Include="Collision\OysterCollision.h">
|
||||
<Filter>Header Files\Collision</Filter>
|
||||
<ClInclude Include="Physics\FluidDrag.h">
|
||||
<Filter>Header Files\Physics</Filter>
|
||||
</ClInclude>
|
||||
<ClInclude Include="Physics\Particle.h">
|
||||
<Filter>Header Files\Physics</Filter>
|
||||
</ClInclude>
|
||||
<ClInclude Include="Physics\RigidBody.h">
|
||||
<Filter>Header Files\Physics</Filter>
|
||||
</ClInclude>
|
||||
<ClInclude Include="Physics\Spring.h">
|
||||
<Filter>Header Files\Physics</Filter>
|
||||
</ClInclude>
|
||||
<ClInclude Include="OysterCollision3D.h">
|
||||
<Filter>Header Files</Filter>
|
||||
</ClInclude>
|
||||
<ClInclude Include="OysterPhysics3D.h">
|
||||
<Filter>Header Files</Filter>
|
||||
</ClInclude>
|
||||
</ItemGroup>
|
||||
</Project>
|
||||
|
|
@ -0,0 +1,26 @@
|
|||
/////////////////////////////////////////////////////////////////////
|
||||
// Created by Dan Andersson 2013
|
||||
/////////////////////////////////////////////////////////////////////
|
||||
|
||||
#include "FluidDrag.h"
|
||||
|
||||
using namespace ::Oyster::Physics3D;
|
||||
using namespace ::Oyster::Math3D;
|
||||
|
||||
FluidDrag::FluidDrag( Float _density, Float _dragCoeff )
|
||||
: density(_density), dragCoeff(_dragCoeff) {}
|
||||
|
||||
FluidDrag & FluidDrag::operator = ( const FluidDrag &fluid )
|
||||
{
|
||||
this->density = fluid.density;
|
||||
this->dragCoeff = fluid.dragCoeff;
|
||||
return *this;
|
||||
}
|
||||
void FluidDrag::SetDensity( ::Oyster::Math::Float d )
|
||||
{ this->density = d; }
|
||||
|
||||
void FluidDrag::SetDragCoefficient( ::Oyster::Math::Float c )
|
||||
{ this->dragCoeff = c; }
|
||||
|
||||
Float3 & FluidDrag::GetDragForce( const Float3 &deltaVelocity, Float crossSectionalArea, Float3 &targetMem ) const
|
||||
{ return targetMem = (0.5f * this->density * this->dragCoeff * crossSectionalArea * deltaVelocity.GetMagnitude() ) * deltaVelocity; }
|
||||
|
|
@ -0,0 +1,41 @@
|
|||
/////////////////////////////////////////////////////////////////////
|
||||
// Created by Dan Andersson 2013
|
||||
/////////////////////////////////////////////////////////////////////
|
||||
|
||||
#ifndef OYSTER_PHYSICS_3D_FLUID_DRAG_H
|
||||
#define OYSTER_PHYSICS_3D_FLUID_DRAG_H
|
||||
|
||||
#include "OysterMath.h"
|
||||
#include "..\OysterPhysics3D.h"
|
||||
|
||||
namespace Oyster { namespace Physics3D
|
||||
{
|
||||
struct FluidDrag
|
||||
{ /// A struct representing fluids* interaction with objects.
|
||||
/// *including gas
|
||||
public:
|
||||
FluidDrag( ::Oyster::Math::Float density = 1.0f, ::Oyster::Math::Float coeff = 1.0f );
|
||||
|
||||
FluidDrag & operator = ( const FluidDrag &fluid );
|
||||
|
||||
void SetDensity( ::Oyster::Math::Float d );
|
||||
void SetDragCoefficient( ::Oyster::Math::Float c );
|
||||
|
||||
/******************************************************************
|
||||
* Returns the resistance force when object is moving through fluid.
|
||||
* @param deltaVelocity: (fluid's velocity) - (the object's velocity)
|
||||
* @param crossSectionalArea: The max area of crosssectional surfaces orthogonal to deltaVelocity
|
||||
* @param targetMem: Allocated memory where result is written. default: temporary allocation
|
||||
* @return targetMem
|
||||
******************************************************************/
|
||||
::Oyster::Math::Float3 & GetDragForce( const ::Oyster::Math::Float3 &deltaVelocity, ::Oyster::Math::Float crossSectionalArea, ::Oyster::Math::Float3 &targetMem = ::Oyster::Math::Float3() ) const;
|
||||
|
||||
/** @todo TODO: Add GetMagnusForce ? */
|
||||
|
||||
private:
|
||||
::Oyster::Math::Float density, /// density of the fluid (kg/m^3)
|
||||
dragCoeff;
|
||||
};
|
||||
} }
|
||||
|
||||
#endif
|
||||
|
|
@ -0,0 +1,169 @@
|
|||
/////////////////////////////////////////////////////////////////////
|
||||
// Created by Dan Andersson 2013
|
||||
/////////////////////////////////////////////////////////////////////
|
||||
|
||||
#include "Particle.h"
|
||||
#include "Utilities.h"
|
||||
|
||||
using namespace ::Oyster::Math3D;
|
||||
using namespace ::Oyster::Collision3D;
|
||||
using namespace ::Oyster::Physics3D;
|
||||
|
||||
Particle::Particle( const Sphere &s, Float m )
|
||||
: sphere(s), linearMomentum(Float3::null), impulseForceSum(Float3::null)
|
||||
{
|
||||
if( m == 0.0f )
|
||||
{
|
||||
this->mass = ::Utility::Value::numeric_limits<Float>::epsilon();
|
||||
}
|
||||
else
|
||||
{
|
||||
this->mass = m;
|
||||
}
|
||||
}
|
||||
|
||||
Particle & Particle::operator = ( const Particle &particle )
|
||||
{
|
||||
this->sphere = particle.sphere;
|
||||
this->linearMomentum = particle.linearMomentum;
|
||||
this->impulseForceSum = particle.impulseForceSum;
|
||||
this->mass = particle.mass;
|
||||
return *this;
|
||||
}
|
||||
|
||||
void Particle::Update_LeapFrog( Float deltaTime )
|
||||
{ // Euler leap frog update when Runga Kutta is not needed
|
||||
this->impulseForceSum *= (deltaTime / this->mass); // is now deltaLinearVelocity ( dt * a = dt * F / m )
|
||||
this->sphere.center += deltaTime * ::Utility::Value::AverageWithDelta( Formula::LinearVelocity(this->mass, this->linearMomentum), this->impulseForceSum );
|
||||
this->linearMomentum += Formula::LinearMomentum( this->mass, this->impulseForceSum );
|
||||
this->impulseForceSum = Float3::null;
|
||||
|
||||
/* Fun notation
|
||||
the operations above can be written like this
|
||||
p = p0 + dt*( v0 + dt*(F/m)/2 )
|
||||
= p0 + dt*v0 + dt^2*(F/m)/2
|
||||
there:
|
||||
* dt = deltaTime
|
||||
* p = this->sphere.position at the end of deltaTime
|
||||
* p0 = this->sphere.position at beginning of deltaTime
|
||||
* v0 = this->velocity at beginning of deltaTime
|
||||
* m = this->mass
|
||||
* F = this->sumForces pushing during deltaTime
|
||||
|
||||
It is the law of motion with constant acceleration.
|
||||
*/
|
||||
}
|
||||
|
||||
void Particle::ApplyImpulseForce( const Float3 &f )
|
||||
{
|
||||
this->impulseForceSum += f;
|
||||
}
|
||||
|
||||
void Particle::ApplyLinearImpulseAcceleration( const Float3 &a )
|
||||
{
|
||||
this->impulseForceSum += this->mass * a;
|
||||
}
|
||||
|
||||
Float3 & Particle::AccessCenter()
|
||||
{
|
||||
return this->sphere.center;
|
||||
}
|
||||
|
||||
const Float3 & Particle::AccessCenter() const
|
||||
{
|
||||
return this->sphere.center;
|
||||
}
|
||||
|
||||
Float & Particle::AccessRadius()
|
||||
{
|
||||
return this->sphere.radius;
|
||||
}
|
||||
|
||||
const Float & Particle::AccessRadius() const
|
||||
{
|
||||
return this->sphere.radius;
|
||||
}
|
||||
|
||||
const Float & Particle::GetMass() const
|
||||
{
|
||||
return this->mass;
|
||||
}
|
||||
|
||||
const Float3 & Particle::GetCenter() const
|
||||
{
|
||||
return this->sphere.center;
|
||||
}
|
||||
|
||||
const Float & Particle::GetRadius() const
|
||||
{
|
||||
return this->sphere.radius;
|
||||
}
|
||||
|
||||
const Float3 & Particle::GetImpulseForce() const
|
||||
{
|
||||
return this->impulseForceSum;
|
||||
}
|
||||
|
||||
const Float3 & Particle::GetLinearMomentum() const
|
||||
{
|
||||
return this->linearMomentum;
|
||||
}
|
||||
|
||||
Float3 Particle::GetLinearImpulseAcceleration() const
|
||||
{
|
||||
return Formula::LinearImpulseAcceleration( this->mass, this->impulseForceSum );
|
||||
}
|
||||
|
||||
Float3 Particle::GetLinearVelocity() const
|
||||
{
|
||||
return Formula::LinearVelocity( this->mass, this->linearMomentum );
|
||||
}
|
||||
|
||||
void Particle::SetMass_KeepVelocity( Float m )
|
||||
{
|
||||
Float3 velocity = Formula::LinearVelocity( this->mass, this->linearMomentum );
|
||||
this->SetMass_KeepMomentum( m );
|
||||
this->linearMomentum = Formula::LinearMomentum( this->mass, velocity );
|
||||
}
|
||||
|
||||
void Particle::SetMass_KeepMomentum( Float m )
|
||||
{
|
||||
if( m == 0.0f )
|
||||
{
|
||||
this->mass = ::Utility::Value::numeric_limits<Float>::epsilon();
|
||||
}
|
||||
else
|
||||
{
|
||||
this->mass = m;
|
||||
}
|
||||
}
|
||||
|
||||
void Particle::SetCenter( const Float3 &p )
|
||||
{
|
||||
this->sphere.center = p;
|
||||
}
|
||||
|
||||
void Particle::SetRadius( Float r )
|
||||
{
|
||||
this->sphere.radius = r;
|
||||
}
|
||||
|
||||
void Particle::SetImpulseForce( const Float3 &f )
|
||||
{
|
||||
this->impulseForceSum = f;
|
||||
}
|
||||
|
||||
void Particle::SetLinearMomentum( const Float3 &g )
|
||||
{
|
||||
this->linearMomentum = g;
|
||||
}
|
||||
|
||||
void Particle::SetLinearImpulseAcceleration( const Float3 &a )
|
||||
{
|
||||
this->impulseForceSum = Formula::ImpulseForce( this->mass, a );
|
||||
}
|
||||
|
||||
void Particle::SetLinearVelocity( const Float3 &v )
|
||||
{
|
||||
this->linearMomentum = Formula::LinearMomentum( this->mass, v );
|
||||
}
|
||||
|
|
@ -0,0 +1,64 @@
|
|||
/////////////////////////////////////////////////////////////////////
|
||||
// Created by Dan Andersson 2013
|
||||
/////////////////////////////////////////////////////////////////////
|
||||
|
||||
#ifndef OYSTER_PHYSICS_3D_PARTICLE_H
|
||||
#define OYSTER_PHYSICS_3D_PARTICLE_H
|
||||
|
||||
#include "OysterMath.h"
|
||||
#include "..\OysterCollision3D.h"
|
||||
#include "..\OysterPhysics3D.h"
|
||||
|
||||
namespace Oyster { namespace Physics3D
|
||||
{
|
||||
struct Particle
|
||||
{ /// A struct of a simple particle.
|
||||
public:
|
||||
::Oyster::Collision3D::Sphere sphere;
|
||||
::Oyster::Math::Float3 linearMomentum, /// The linear momentum G (kg*m/s).
|
||||
impulseForceSum; /// The impulse force F (N) that will be consumed each update.
|
||||
|
||||
Particle( const ::Oyster::Collision3D::Sphere &sphere = ::Oyster::Collision3D::Sphere(), ::Oyster::Math::Float mass = 1.0f );
|
||||
|
||||
Particle & operator = ( const Particle &particle );
|
||||
|
||||
void Update_LeapFrog( ::Oyster::Math::Float deltaTime );
|
||||
void ApplyImpulseForce( const ::Oyster::Math::Float3 &f );
|
||||
void ApplyLinearImpulseAcceleration( const ::Oyster::Math::Float3 &a );
|
||||
|
||||
// ACCESS METHODS /////////////////////////////
|
||||
|
||||
::Oyster::Math::Float3 & AccessCenter();
|
||||
const ::Oyster::Math::Float3 & AccessCenter() const;
|
||||
::Oyster::Math::Float & AccessRadius();
|
||||
const ::Oyster::Math::Float & AccessRadius() const;
|
||||
|
||||
// GET METHODS ////////////////////////////////
|
||||
|
||||
const ::Oyster::Math::Float & GetMass() const;
|
||||
const ::Oyster::Math::Float3 & GetCenter() const;
|
||||
const ::Oyster::Math::Float & GetRadius() const;
|
||||
|
||||
const ::Oyster::Math::Float3 & GetImpulseForce() const;
|
||||
const ::Oyster::Math::Float3 & GetLinearMomentum() const;
|
||||
::Oyster::Math::Float3 GetLinearImpulseAcceleration() const;
|
||||
::Oyster::Math::Float3 GetLinearVelocity() const;
|
||||
|
||||
// SET METHODS ////////////////////////////////
|
||||
|
||||
void SetMass_KeepVelocity( ::Oyster::Math::Float m );
|
||||
void SetMass_KeepMomentum( ::Oyster::Math::Float m );
|
||||
void SetCenter( const ::Oyster::Math::Float3 &p );
|
||||
void SetRadius( ::Oyster::Math::Float r );
|
||||
|
||||
void SetImpulseForce( const ::Oyster::Math::Float3 &f );
|
||||
void SetLinearMomentum( const ::Oyster::Math::Float3 &g );
|
||||
void SetLinearImpulseAcceleration( const ::Oyster::Math::Float3 &a );
|
||||
void SetLinearVelocity( const ::Oyster::Math::Float3 &v );
|
||||
|
||||
private:
|
||||
::Oyster::Math::Float mass; /// m (kg)
|
||||
};
|
||||
} }
|
||||
|
||||
#endif
|
||||
|
|
@ -0,0 +1,54 @@
|
|||
/////////////////////////////////////////////////////////////////////
|
||||
// Created by Dan Andersson 2013
|
||||
/////////////////////////////////////////////////////////////////////
|
||||
|
||||
#include "Spring.h"
|
||||
|
||||
using namespace ::Oyster::Math3D;
|
||||
using namespace ::Oyster::Physics3D;
|
||||
|
||||
Spring::Spring( Float r, Float s, Float d )
|
||||
: restingLength(r), springCoefficiant(s), dampeningCoefficiant(d) {}
|
||||
|
||||
Spring & Spring::operator = ( const Spring &spring )
|
||||
{
|
||||
this->restingLength = spring.restingLength;
|
||||
this->springCoefficiant = spring.springCoefficiant;
|
||||
this->dampeningCoefficiant = spring.dampeningCoefficiant;
|
||||
return *this;
|
||||
}
|
||||
|
||||
Float3 & Spring::GetSpringForce( const Float3 &deltaPosition, Float3 &targetMem ) const
|
||||
{
|
||||
Float length = deltaPosition.Dot( deltaPosition );
|
||||
if( length != 0.0f )
|
||||
{
|
||||
length = sqrt( length );
|
||||
return targetMem = deltaPosition * ( this->springCoefficiant * (length - this->restingLength) / length );
|
||||
}
|
||||
else return targetMem = Float3::null;
|
||||
}
|
||||
|
||||
Float3 & Spring::GetDampeningForce( const Float3 &deltaPosition, const Float3 &deltaLinearVelocity, Float3 &targetMem ) const
|
||||
{
|
||||
Float projectedSpeed = deltaPosition.Dot(deltaPosition);
|
||||
if( projectedSpeed != 0.0f )
|
||||
{
|
||||
projectedSpeed = deltaLinearVelocity.Dot(deltaPosition) / projectedSpeed;
|
||||
return targetMem = deltaPosition * ( this->dampeningCoefficiant * projectedSpeed );
|
||||
}
|
||||
else return targetMem = Float3::null;
|
||||
}
|
||||
|
||||
Float3 & Spring::GetSpringDampeningForce( const Float3 &deltaPosition, const Float3 &deltaLinearVelocity, Float3 &targetMem) const
|
||||
{
|
||||
Float length = deltaPosition.Dot( deltaPosition );
|
||||
if( length != 0.0f )
|
||||
{ // f = sprCoeff * (|dP| - rL) + (dV dot dP) * (dampCoeff / |dP|) * (dP / |dP|)
|
||||
length = sqrt( length );
|
||||
Float force = this->springCoefficiant * (length - this->restingLength);
|
||||
force += deltaLinearVelocity.Dot(deltaPosition) * (this->dampeningCoefficiant / length);
|
||||
return targetMem = deltaPosition * (force / length);
|
||||
}
|
||||
else return targetMem = Float3::null;
|
||||
}
|
||||
|
|
@ -0,0 +1,29 @@
|
|||
/////////////////////////////////////////////////////////////////////
|
||||
// Created by Dan Andersson 2013
|
||||
/////////////////////////////////////////////////////////////////////
|
||||
|
||||
#ifndef OYSTER_PHYSICS_3D_SPRING_H
|
||||
#define OYSTER_PHYSICS_3D_SPRING_H
|
||||
|
||||
#include "OysterMath.h"
|
||||
|
||||
namespace Oyster { namespace Physics3D
|
||||
{
|
||||
struct Spring
|
||||
{ /// A struct of a spring able to generate push and pull forces
|
||||
public:
|
||||
::Oyster::Math::Float restingLength, /// the resting length of the spring in meters
|
||||
springCoefficiant, /// kg/s^2
|
||||
dampeningCoefficiant;
|
||||
|
||||
Spring( ::Oyster::Math::Float restingLength = 1.0f, ::Oyster::Math::Float springCoefficiant = 1.0f, ::Oyster::Math::Float dampingCoefficiant = 0.0f );
|
||||
|
||||
Spring & operator = ( const Spring &spring );
|
||||
|
||||
::Oyster::Math::Float3 & GetSpringForce( const ::Oyster::Math::Float3 &deltaPosition, ::Oyster::Math::Float3 &targetMem = ::Oyster::Math::Float3() ) const;
|
||||
::Oyster::Math::Float3 & GetDampeningForce( const ::Oyster::Math::Float3 &deltaPosition, const ::Oyster::Math::Float3 &deltaLinearVelocity, ::Oyster::Math::Float3 &targetMem = ::Oyster::Math::Float3() ) const;
|
||||
::Oyster::Math::Float3 & GetSpringDampeningForce( const ::Oyster::Math::Float3 &deltaPosition, const ::Oyster::Math::Float3 &deltaLinearVelocity, ::Oyster::Math::Float3 &targetMem = ::Oyster::Math::Float3() ) const;
|
||||
};
|
||||
} }
|
||||
|
||||
#endif
|
||||
Loading…
Reference in New Issue