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

Code/GamePhysics/Implementation/PhysicsAPI_Impl.cpp

@@ -24,6 +24,8 @@ API_Impl::API_Impl()
     this->dispatcher = NULL;
 	this->solver = NULL;
 	this->dynamicsWorld = NULL;
+
+	this->timeStep = 1.0f/120.0f;
 }
 
 API_Impl::~API_Impl() 
@@ -39,7 +41,7 @@ API_Impl::~API_Impl()
     delete this->broadphase;
 	this->broadphase = NULL;
 
-	for(int i = 0; i < this->customBodies.size(); i++)
+	for(unsigned int i = 0; i < this->customBodies.size(); i++)
 	{
 		delete this->customBodies[i];
 		this->customBodies[i] = NULL;
@@ -164,27 +166,33 @@ ICustomBody* API_Impl::AddCollisionCylinder(::Oyster::Math::Float3 halfSize, ::O
 	return body;
 }
 
+void API_Impl::SetTimeStep(float timeStep)
+{
+	this->timeStep = timeStep;
+}
+
 void API_Impl::UpdateWorld()
 {
-	this->dynamicsWorld->stepSimulation(1.0f/60.0f, 1.0f, 1.0f/60.0f);
+	this->dynamicsWorld->stepSimulation(this->timeStep, 1, this->timeStep);
 
 	ICustomBody::State state;
 
 	for(unsigned int i = 0; i < this->customBodies.size(); i++ )
 	{
+		SimpleRigidBody* simpleBody = dynamic_cast<SimpleRigidBody*>(this->customBodies[i]);
 		btTransform trans;
-		dynamic_cast<SimpleRigidBody*>(this->customBodies[i])->GetMotionState()->getWorldTransform(trans);
+		simpleBody->GetMotionState()->getWorldTransform(trans);
 		this->customBodies[i]->SetPosition(Float3(trans.getOrigin().x(), trans.getOrigin().y(), trans.getOrigin().z()));
 		this->customBodies[i]->SetRotation(Quaternion(Float3(trans.getRotation().x(), trans.getRotation().y(), trans.getRotation().z()), trans.getRotation().w()));
 		
-		if(dynamic_cast<SimpleRigidBody*>(this->customBodies[i])->GetRigidBody()->getActivationState() == ACTIVE_TAG)
+		if(simpleBody->GetRigidBody()->getActivationState() == ACTIVE_TAG)
 		{
-			dynamic_cast<SimpleRigidBody*>(this->customBodies[i])->CallSubscription_Move();
+			simpleBody->CallSubscription_Move();
 		}
 	}
 
 	int numManifolds = this->dynamicsWorld->getDispatcher()->getNumManifolds();
-	for (int i=0;i<numManifolds;i++)
+	for (int i = 0; i < numManifolds; i++)
 	{
 		btPersistentManifold* contactManifold =  this->dynamicsWorld->getDispatcher()->getManifoldByIndexInternal(i);
 		const btCollisionObject* obA = contactManifold->getBody0();
@@ -195,18 +203,6 @@ void API_Impl::UpdateWorld()
 
 		dynamic_cast<SimpleRigidBody*>(bodyA)->CallSubscription_AfterCollisionResponse(bodyA, bodyB, 0.0f);
 		dynamic_cast<SimpleRigidBody*>(bodyB)->CallSubscription_AfterCollisionResponse(bodyB, bodyA, 0.0f);
-
-		int numContacts = contactManifold->getNumContacts();
-		for (int j=0;j<numContacts;j++)
-		{
-			btManifoldPoint& pt = contactManifold->getContactPoint(j);
-			if (pt.getDistance()<0.f)
-			{   
-				const btVector3& ptA = pt.getPositionWorldOnA();
-				const btVector3& ptB = pt.getPositionWorldOnB();
-				const btVector3& normalOnB = pt.m_normalWorldOnB;
-			}
-		}
 	}
 
 }
@@ -257,9 +253,7 @@ namespace Oyster
 			}
 
 			void EventAction_AfterCollisionResponse( const ::Oyster::Physics::ICustomBody *proto, const ::Oyster::Physics::ICustomBody *deuter, ::Oyster::Math::Float kineticEnergyLoss )
-			{ /* Do nothing except returning business as usual. */
+			{ /* Do nothing except returning business as usual. */ }
-				
-			}
 
 			void EventAction_Move( const ::Oyster::Physics::ICustomBody *object )
 			{ /* Do nothing. */ }

Code/GamePhysics/Implementation/PhysicsAPI_Impl.h

@@ -26,6 +26,8 @@ namespace Oyster
 			ICustomBody* AddCollisionBox(::Oyster::Math::Float3 halfSize, ::Oyster::Math::Float4 rotation, ::Oyster::Math::Float3 position, float mass, float restitution, float staticFriction, float dynamicFriction);
 			ICustomBody* AddCollisionCylinder(::Oyster::Math::Float3 halfSize, ::Oyster::Math::Float4 rotation, ::Oyster::Math::Float3 position, float mass, float restitution, float staticFriction, float dynamicFriction);
 
+			void SetTimeStep(float timeStep);
+
 			void UpdateWorld();
 
 			void ApplyEffect( const Oyster::Collision3D::ICollideable& collideable, void* args, void(hitAction)(ICustomBody*, void*) );
@@ -37,6 +39,8 @@ namespace Oyster
 			btSequentialImpulseConstraintSolver* solver;
 			btDiscreteDynamicsWorld* dynamicsWorld;
 			std::vector<ICustomBody*> customBodies;
+
+			float timeStep;
 		};
 
 		namespace Default

Code/GamePhysics/Implementation/SimpleRigidBody.cpp

@@ -134,6 +134,49 @@ void SimpleRigidBody::SetRotation(Float3 eulerAngles)
 	this->state.quaternion = Quaternion(Float3(trans.getRotation().x(), trans.getRotation().y(), trans.getRotation().z()), trans.getRotation().w());
 }
 
+void SimpleRigidBody::SetAngularFactor(Float factor)
+{
+	this->rigidBody->setAngularFactor(factor);
+}
+
+void SimpleRigidBody::SetUpAndRight(::Oyster::Math::Float3 up, ::Oyster::Math::Float3 right)
+{
+	btMatrix3x3 rotation;
+	btVector3 upVector(up.x, up.y, up.z);
+	btVector3 rightVector(right.x, right.y, right.z);
+	rotation[1] = upVector.normalized();
+	rotation[0] = rightVector.normalized();
+	rotation[2] = upVector.cross(rightVector).normalized();
+
+	btQuaternion quaternion;
+	rotation.getRotation(quaternion);
+	this->state.quaternion = Quaternion(Float3(quaternion.x(), quaternion.y(), quaternion.z()), quaternion.w());
+	
+	btTransform trans;
+	this->motionState->getWorldTransform(trans);
+	trans.setRotation(quaternion);
+	this->motionState->setWorldTransform(trans);
+}
+
+void SimpleRigidBody::SetUpAndForward(::Oyster::Math::Float3 up, ::Oyster::Math::Float3 forward)
+{
+	btMatrix3x3 rotation;
+	btVector3 upVector(up.x, up.y, up.z);
+	btVector3 forwardVector(forward.x, forward.y, forward.z);
+	rotation[1] = upVector.normalized();
+	rotation[0] = forwardVector.normalized();
+	rotation[2] = upVector.cross(forwardVector).normalized();
+
+	btQuaternion quaternion;
+	rotation.getRotation(quaternion);
+	this->state.quaternion = Quaternion(Float3(quaternion.x(), quaternion.y(), quaternion.z()), quaternion.w());
+
+	btTransform trans;
+	this->motionState->getWorldTransform(trans);
+	trans.setRotation(quaternion);
+	this->motionState->setWorldTransform(trans);
+}
+
 Float4x4 SimpleRigidBody::GetRotation() const
 {
 	return this->state.GetRotation();

Code/GamePhysics/Implementation/SimpleRigidBody.h

@@ -26,10 +26,14 @@ namespace Oyster
 			void SetSubscription(EventAction_Move function);
 
 			void SetLinearVelocity(Math::Float3 velocity);
-			void SetPosition(::Oyster::Math::Float3 position);
+			void SetPosition(Math::Float3 position);
 			void SetRotation(Math::Float4 quaternion);
-			void SetRotation(::Oyster::Math::Quaternion quaternion);
+			void SetRotation(Math::Quaternion quaternion);
 			void SetRotation(Math::Float3 eulerAngles);
+			void SetAngularFactor(Math::Float factor);
+
+			void SetUpAndRight(::Oyster::Math::Float3 up, ::Oyster::Math::Float3 right);
+			void SetUpAndForward(::Oyster::Math::Float3 up, ::Oyster::Math::Float3 forward);
 
 			Math::Float4x4 GetRotation() const;
 			Math::Float4x4 GetOrientation() const;

Code/GamePhysics/PhysicsAPI.h

@@ -84,6 +84,8 @@ namespace Oyster
 			virtual ICustomBody* AddCollisionBox(::Oyster::Math::Float3 halfSize, ::Oyster::Math::Float4 rotation, ::Oyster::Math::Float3 position, float mass, float restitution, float staticFriction, float dynamicFriction) = 0;
 			virtual ICustomBody* AddCollisionCylinder(::Oyster::Math::Float3 halfSize, ::Oyster::Math::Float4 rotation, ::Oyster::Math::Float3 position, float mass, float restitution, float staticFriction, float dynamicFriction) = 0;
 
+			virtual void SetTimeStep(float timeStep) = 0;
+
 			virtual void UpdateWorld() = 0;
 
 
@@ -135,6 +137,10 @@ namespace Oyster
 			virtual void SetRotation(::Oyster::Math::Float4 quaternion) = 0;
 			virtual void SetRotation(::Oyster::Math::Quaternion quaternion) = 0;
 			virtual void SetRotation(::Oyster::Math::Float3 eulerAngles) = 0;
+			virtual void SetAngularFactor(::Oyster::Math::Float factor) = 0;
+
+			virtual void SetUpAndRight(::Oyster::Math::Float3 up, ::Oyster::Math::Float3 right) = 0;
+			virtual void SetUpAndForward(::Oyster::Math::Float3 up, ::Oyster::Math::Float3 forward) = 0;
 
 			::Oyster::Math::Float4x4 GetRotation() const;
 			::Oyster::Math::Float4x4 GetOrientation() const;