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Minor changes 

Some argument renaming and changed a few RigidBody functions, in respect
to the change in the Box struct
This commit is contained in:
Dander7BD 2013-11-20 17:40:12 +01:00
parent 8dee300dc8
commit d90074d909
2 changed files with 31 additions and 36 deletions
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38
Code/OysterPhysics3D/OysterPhysics3D.h
View File

@ -49,7 +49,7 @@ namespace Oyster { namespace Physics3D
} }
/****************************************************************** /******************************************************************
* Returns the local angular momentum of a mass in rotation. * Returns the world angular momentum of a mass in rotation.
* @todo TODO: improve doc * @todo TODO: improve doc
******************************************************************/ ******************************************************************/
inline ::Oyster::Math::Float3 AngularMomentum( const ::Oyster::Math::Float4x4 &momentOfInertia, const ::Oyster::Math::Float3 &angularVelocity ) inline ::Oyster::Math::Float3 AngularMomentum( const ::Oyster::Math::Float4x4 &momentOfInertia, const ::Oyster::Math::Float3 &angularVelocity )
@ -58,39 +58,39 @@ namespace Oyster { namespace Physics3D
} }
/****************************************************************** /******************************************************************
* Returns the local angular momentum of a mass in rotation. * Returns the world angular momentum of a mass in rotation.
* @todo TODO: improve doc * @todo TODO: improve doc
******************************************************************/ ******************************************************************/
inline ::Oyster::Math::Float3 AngularMomentum( const ::Oyster::Math::Float3 linearMomentum, const ::Oyster::Math::Float3 &offset ) inline ::Oyster::Math::Float3 AngularMomentum( const ::Oyster::Math::Float3 linearMomentum, const ::Oyster::Math::Float3 &worldOffset )
{ {
return offset.Cross( linearMomentum ); return offset.Cross( linearMomentum );
} }
/****************************************************************** /******************************************************************
* Returns the local tangential momentum at localPos, of a mass in rotation. * Returns the world tangential momentum at worldPos, of a mass in rotation.
* @todo TODO: improve doc * @todo TODO: improve doc
******************************************************************/ ******************************************************************/
inline ::Oyster::Math::Float3 TangentialLinearMomentum( const ::Oyster::Math::Float3 &angularMomentum, const ::Oyster::Math::Float3 &localOffset ) inline ::Oyster::Math::Float3 TangentialLinearMomentum( const ::Oyster::Math::Float3 &angularMomentum, const ::Oyster::Math::Float3 &worldOffset )
{ {
return angularMomentum.Cross( localOffset ); return angularMomentum.Cross( worldOffset );
} }
/****************************************************************** /******************************************************************
* Returns the local tangential momentum at localPos, of a mass in rotation. * Returns the world tangential momentum at worldPos, of a mass in rotation.
* @todo TODO: improve doc * @todo TODO: improve doc
******************************************************************/ ******************************************************************/
inline ::Oyster::Math::Float3 TangentialLinearMomentum( const ::Oyster::Math::Float4x4 &momentOfInertia, const ::Oyster::Math::Float3 &angularVelocity, const ::Oyster::Math::Float3 &localOffset ) inline ::Oyster::Math::Float3 TangentialLinearMomentum( const ::Oyster::Math::Float4x4 &momentOfInertia, const ::Oyster::Math::Float3 &angularVelocity, const ::Oyster::Math::Float3 &worldOffset )
{ {
return TangentialLinearMomentum( AngularMomentum(momentOfInertia, angularVelocity), localOffset ); return TangentialLinearMomentum( AngularMomentum(momentOfInertia, angularVelocity), worldOffset );
} }
/****************************************************************** /******************************************************************
* Returns the local impulse force at localPos, of a mass in angular acceleration. * Returns the world impulse force at worldPos, of a mass in angular acceleration.
* @todo TODO: improve doc * @todo TODO: improve doc
******************************************************************/ ******************************************************************/
inline ::Oyster::Math::Float3 TangentialImpulseForce( const ::Oyster::Math::Float3 &impulseTorque, const ::Oyster::Math::Float3 &localOffset ) inline ::Oyster::Math::Float3 TangentialImpulseForce( const ::Oyster::Math::Float3 &impulseTorque, const ::Oyster::Math::Float3 &worldOffset )
{ {
return impulseTorque.Cross( localOffset ); return impulseTorque.Cross( worldOffset );
} }
/****************************************************************** /******************************************************************
@ -106,7 +106,7 @@ namespace Oyster { namespace Physics3D
* *
* @todo TODO: improve doc * @todo TODO: improve doc
******************************************************************/ ******************************************************************/
inline ::Oyster::Math::Float3 AngularImpulseAcceleration( const ::Oyster::Math::Float3 &linearImpulseAcceleration, const ::Oyster::Math::Float3 &offset ) inline ::Oyster::Math::Float3 AngularImpulseAcceleration( const ::Oyster::Math::Float3 &linearImpulseAcceleration, const ::Oyster::Math::Float3 &worldOffset )
{ {
return offset.Cross( linearImpulseAcceleration ); return offset.Cross( linearImpulseAcceleration );
} }
@ -121,7 +121,7 @@ namespace Oyster { namespace Physics3D
} }
/****************************************************************** /******************************************************************
* Returns the local angular velocity of a mass in rotation. * Returns the world angular velocity of a mass in rotation.
* @todo TODO: improve doc * @todo TODO: improve doc
******************************************************************/ ******************************************************************/
inline ::Oyster::Math::Float3 AngularVelocity( const ::Oyster::Math::Float4x4 &momentOfInertiaInversed, const ::Oyster::Math::Float3 &angularMomentum ) inline ::Oyster::Math::Float3 AngularVelocity( const ::Oyster::Math::Float4x4 &momentOfInertiaInversed, const ::Oyster::Math::Float3 &angularMomentum )
@ -130,19 +130,19 @@ namespace Oyster { namespace Physics3D
} }
/****************************************************************** /******************************************************************
* Returns the local tangential velocity at localPos, of a mass in rotation. * Returns the world tangential velocity at worldPos, of a mass in rotation.
* @todo TODO: improve doc * @todo TODO: improve doc
******************************************************************/ ******************************************************************/
inline ::Oyster::Math::Float3 TangentialLinearVelocity( const ::Oyster::Math::Float3 &angularVelocity, const ::Oyster::Math::Float3 &offset ) inline ::Oyster::Math::Float3 TangentialLinearVelocity( const ::Oyster::Math::Float3 &angularVelocity, const ::Oyster::Math::Float3 &worldOffset )
{ {
return angularVelocity.Cross( offset ); return angularVelocity.Cross( offset );
} }
/****************************************************************** /******************************************************************
* Returns the local tangential velocity at localPos, of a mass in rotation. * Returns the world tangential velocity at worldPos, of a mass in rotation.
* @todo TODO: improve doc * @todo TODO: improve doc
******************************************************************/ ******************************************************************/
inline ::Oyster::Math::Float3 TangentialLinearVelocity( const ::Oyster::Math::Float4x4 &momentOfInertiaInversed, const ::Oyster::Math::Float3 &angularMomentum, const ::Oyster::Math::Float3 &offset ) inline ::Oyster::Math::Float3 TangentialLinearVelocity( const ::Oyster::Math::Float4x4 &momentOfInertiaInversed, const ::Oyster::Math::Float3 &angularMomentum, const ::Oyster::Math::Float3 &worldOffset )
{ {
return TangentialLinearVelocity( AngularVelocity(momentOfInertiaInversed, angularMomentum), offset ); return TangentialLinearVelocity( AngularVelocity(momentOfInertiaInversed, angularMomentum), offset );
} }
@ -169,7 +169,7 @@ namespace Oyster { namespace Physics3D
* *
* @todo TODO: improve doc * @todo TODO: improve doc
******************************************************************/ ******************************************************************/
inline ::Oyster::Math::Float3 ImpulseTorque( const ::Oyster::Math::Float3 & impulseForce, const ::Oyster::Math::Float3 &offset ) inline ::Oyster::Math::Float3 ImpulseTorque( const ::Oyster::Math::Float3 & impulseForce, const ::Oyster::Math::Float3 &worldOffset )
{ {
return offset.Cross( impulseForce ); return offset.Cross( impulseForce );
} }

29
Code/OysterPhysics3D/RigidBody.cpp
View File

@ -131,16 +131,6 @@ void RigidBody::ApplyAngularImpulseAcceleration( const Float3 &worldA )
this->impulseTorqueSum += Formula::ImpulseTorque( this->momentOfInertiaTensor, worldA ); this->impulseTorqueSum += Formula::ImpulseTorque( this->momentOfInertiaTensor, worldA );
} }
Float4x4 & RigidBody::AccessOrientation()
{ // by Dan Andersson
return this->box.orientation;
}
const Float4x4 & RigidBody::AccessOrientation() const
{ // by Dan Andersson
return this->box.orientation;
}
Float3 & RigidBody::AccessBoundingReach() Float3 & RigidBody::AccessBoundingReach()
{ // by Dan Andersson { // by Dan Andersson
return this->box.boundingOffset; return this->box.boundingOffset;
@ -171,14 +161,14 @@ const Float & RigidBody::GetMass() const
return this->mass; return this->mass;
} }
const Float4x4 & RigidBody::GetOrientation() const const Float4x4 RigidBody::GetOrientation() const
{ // by Dan Andersson { // by Dan Andersson
return this->box.orientation; return OrientationMatrix( this->box.rotation, this->box.center );
} }
Float4x4 RigidBody::GetView() const Float4x4 RigidBody::GetView() const
{ // by Dan Andersson { // by Dan Andersson
return InverseOrientationMatrix( this->box.orientation ); return InverseOrientationMatrix( this->GetOrientation() );
} }
const Float3 & RigidBody::GetBoundingReach() const const Float3 & RigidBody::GetBoundingReach() const
@ -249,18 +239,23 @@ Float3 RigidBody::GetTangentialLinearMomentumAt( const Float3 &worldPos ) const
Float3 RigidBody::GetTangentialImpulseAccelerationAt( const Float3 &worldPos ) const Float3 RigidBody::GetTangentialImpulseAccelerationAt( const Float3 &worldPos ) const
{ // by Dan Andersson { // by Dan Andersson
return this->GetTangentialImpulseAccelerationAt_Local( (this->GetView() * Float4(worldPos, 1.0f)).xyz ); // should not be any disform thus result.w = 1.0f Float4x4 invWorldMomentOfInertia = TransformMatrix( this->box.rotation, this->momentOfInertiaTensor ).GetInverse();
Float3 worldOffset = worldPos - this->box.center;
return Formula::TangentialImpulseAcceleration( invWorldMomentOfInertia, this->impulseTorqueSum, worldOffset );
} }
Float3 RigidBody::GetTangentialLinearVelocityAt( const Float3 &worldPos ) const Float3 RigidBody::GetTangentialLinearVelocityAt( const Float3 &worldPos ) const
{ // by Dan Andersson { // by Dan Andersson
return this->GetTangentialLinearVelocityAt_Local( (this->GetView() * Float4(worldPos, 1.0f)).xyz ); // should not be any disform thus result.w = 1.0f Float4x4 invWorldMomentOfInertia = TransformMatrix( this->box.rotation, this->momentOfInertiaTensor ).GetInverse();
Float3 worldOffset = worldPos - this->box.center;
return Formula::TangentialLinearVelocity( invWorldMomentOfInertia, this->angularMomentum, worldOffset );
} }
Float3 RigidBody::GetImpulseForceAt( const Float3 &worldPos ) const Float3 RigidBody::GetImpulseForceAt( const Float3 &worldPos ) const
{ // by Dan Andersson { // by Dan Andersson
Float4 localForce = Float4( this->GetImpulseForceAt_Local((this->GetView() * Float4(worldPos, 1.0f)).xyz), 0.0f ); // should not be any disform thus result.w = 1.0f return Float3::null; //! @todo TODO: surface normal needed as well. Same goes for those below.
return (this->box.orientation * localForce).xyz; // should not be any disform thus result.w = 0.0f
} }
Float3 RigidBody::GetLinearMomentumAt( const Float3 &worldPos ) const Float3 RigidBody::GetLinearMomentumAt( const Float3 &worldPos ) const