Added OrientationMatrix build methods + other stuff

Code/GamePhysics/GamePhysics.vcxproj.filters

@@ -30,7 +30,7 @@
   </ItemGroup>
   <ItemGroup>
     <ClCompile Include="Implementation\PhysicsAPI_Impl.cpp">
-      <Filter>Header Files\Implementation</Filter>
+      <Filter>Source Files</Filter>
     </ClCompile>
   </ItemGroup>
 </Project>

Code/GamePhysics/PhysicsAPI.h

@@ -1,6 +1,7 @@
 #ifndef PHYSICS_API_H
 #define PHYSICS_API_H
 
+#include "OysterCollision3D.h"
 #include "OysterMath.h"
 #include "Utilities.h"
 
@@ -12,6 +13,12 @@ namespace Oyster
 		class IRigidBody;
 		class IParticle;	
 
+		enum UpdateState
+		{
+			resting,
+			altered
+		};
+
 		namespace Constant
 		{
 			const float gravity_constant = (const float)6.67284e-11; // The _big_G_! ( N(m/kg)^2 ) Used in real gravityforcefields.
@@ -32,17 +39,28 @@ namespace Oyster
 
 			virtual void Update() = 0;
 
-			virtual void MoveToLimbo( unsigned int objRef );
+			virtual bool IsInLimbo( unsigned int objRef ) = 0;
-			virtual void ReleaseFromLimbo( unsigned int objRef );
+			virtual void MoveToLimbo( unsigned int objRef ) = 0;
+			virtual void ReleaseFromLimbo( unsigned int objRef ) = 0;
 
-			virtual unsigned int AddObject( ::Utility::DynamicMemory::UniquePointer<IRigidBody> handle );
+			virtual unsigned int AddObject( ::Utility::DynamicMemory::UniquePointer<IRigidBody> handle ) = 0;
-			virtual void DestroyObject( unsigned int objRef );
+			virtual ::Utility::DynamicMemory::UniquePointer<IRigidBody> ExtractObject( unsigned int objRef ) = 0;
+			virtual void DestroyObject( unsigned int objRef ) = 0;
 		};
 	
 		class IRigidBody
 		{
 		public:
+			virtual ~IRigidBody() {};
 
+			virtual UpdateState Update( ::Oyster::Math::Float timeStepLength ) = 0;
+		
+			virtual bool IsSubscribingCollisions() const = 0;
+			virtual bool IsIntersecting( const IRigidBody &object, ::Oyster::Math::Float &deltaWhen, ::Oyster::Math::Float3 &worldPointOfContact ) = 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;
 		};
 
 		class IParticle

Code/OysterMath/LinearMath.h

@@ -386,6 +386,23 @@ namespace LinearAlgebra3D
 		return targetMem;
 	}
 
+	template<typename ScalarType>
+	inline ::LinearAlgebra::Matrix4x4<ScalarType> OrientationMatrix_LookAtDirection( const ::LinearAlgebra::Vector3<ScalarType> &normalizedDirection, const ::LinearAlgebra::Vector3<ScalarType> &normalizedUpVector, const ::LinearAlgebra::Vector3<ScalarType> &worldPos )
+	{ // Righthanded system! Forward is considered to be along negative z axis. Up is considered along positive y axis.
+		::LinearAlgebra::Vector3<ScalarType> right = normalizedDirection.Cross( normalizedUpVector ).GetNormalized();
+		return ::LinearAlgebra::Matrix4x4<ScalarType>( ::LinearAlgebra::Vector4<ScalarType>( right, 0.0f ),
+													   ::LinearAlgebra::Vector4<ScalarType>( right.Cross( normalizedDirection ), 0.0f ),
+													   ::LinearAlgebra::Vector4<ScalarType>( -normalizedDirection, 0.0f ),
+													   ::LinearAlgebra::Vector4<ScalarType>( worldPos, 1.0f ) );
+	}
+
+	template<typename ScalarType>
+	inline ::LinearAlgebra::Matrix4x4<ScalarType> OrientationMatrix_LookAtPos( const ::LinearAlgebra::Vector3<ScalarType> &worldLookAt, const ::LinearAlgebra::Vector3<ScalarType> &normalizedUpVector, const ::LinearAlgebra::Vector3<ScalarType> &worldPos )
+	{ // Righthanded system! Forward is considered to be along negative z axis. Up is considered along positive y axis.
+		::LinearAlgebra::Vector3<ScalarType> direction = ( worldLookAt - worldPos ).GetNormalized();
+		return OrientationMatrix_LookAtDirection( direction, normalizedUpVector, worldPos );
+	}
+
 	template<typename ScalarType>
 	inline ::LinearAlgebra::Matrix4x4<ScalarType> & InverseOrientationMatrix( const ::LinearAlgebra::Matrix4x4<ScalarType> &orientationMatrix, ::LinearAlgebra::Matrix4x4<ScalarType> &targetMem = ::LinearAlgebra::Matrix4x4<ScalarType>() )
 	{
@@ -458,7 +475,7 @@ namespace LinearAlgebra3D
 
 	template<typename ScalarType>
 	inline ::LinearAlgebra::Vector3<ScalarType> NormalProjection( const ::LinearAlgebra::Vector3<ScalarType> &vector, const ::LinearAlgebra::Vector3<ScalarType> &normalizedAxis )
-	{ return axis * ( vector.Dot(axis) ); }
+	{ return normalizedAxis * ( vector.Dot(normalizedAxis) ); }
 }
 
 #include "Utilities.h"

Code/OysterMath/OysterMath.cpp

@@ -131,6 +131,16 @@ namespace Oyster { namespace Math3D
 		return ::LinearAlgebra3D::OrientationMatrix( sumDeltaAngularAxis, sumTranslation, centerOfMass, targetMem );
 	}
 
+	Float4x4 & OrientationMatrix_LookAtDirection( const Float3 &normalizedDirection, const Float3 &normalizedUpVector, const Float3 &worldPos, Float4x4 &targetMem )
+	{
+		return targetMem = ::LinearAlgebra3D::OrientationMatrix_LookAtDirection( normalizedDirection, normalizedUpVector, worldPos );
+	}
+
+	Float4x4 & OrientationMatrix_LookAtPos( const Float3 &worldLookAt, const Float3 &normalizedUpVector, const Float3 &worldPos, Float4x4 &targetMem )
+	{
+		return targetMem = ::LinearAlgebra3D::OrientationMatrix_LookAtPos( worldLookAt, normalizedUpVector, worldPos );
+	}
+
 	Float4x4 & InverseOrientationMatrix( const Float4x4 &orientationMatrix, Float4x4 &targetMem )
 	{
 		return ::LinearAlgebra3D::InverseOrientationMatrix( orientationMatrix, targetMem );

Code/OysterMath/OysterMath.h

@@ -207,6 +207,12 @@ namespace Oyster { namespace Math3D /// Oyster's native math library specialized
 	 *******************************************************************/
 	Float4x4 & OrientationMatrix( const Float3 &sumDeltaAngularAxis, const Float3 &sumTranslation, const Float3 &centerOfMass, Float4x4 &targetMem = Float4x4() );
 
+	//! @todo TODO: Add documentation and not tested
+	Float4x4 & OrientationMatrix_LookAtDirection( const Float3 &normalizedDirection, const Float3 &normalizedUpVector, const Float3 &worldPos, Float4x4 &targetMem = Float4x4() );
+
+	//! @todo TODO: Add documentation and not tested
+	Float4x4 & OrientationMatrix_LookAtPos( const Float3 &worldLookAt, const Float3 &normalizedUpVector, const Float3 &worldPos, Float4x4 &targetMem = Float4x4() );
+
 	/// 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.
 	Float4x4 & InverseOrientationMatrix( const Float4x4 &orientationMatrix, Float4x4 &targetMem = Float4x4() );
 

Code/OysterPhysics3D/RigidBody.cpp

@@ -70,7 +70,7 @@ void RigidBody::Update_LeapFrog( Float deltaTime )
 		this->box.center += deltaPos;
 	}
 
-	// update movements and clear impulseForceSum and impulseTorqueSum
+	// update momentums and clear impulseForceSum and impulseTorqueSum
 	this->linearMomentum += linearImpulse;
 	this->impulseForceSum = Float3::null;
 	this->angularMomentum += angularImpulse;