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Merge remote-tracking branch 'origin/RigidBody' into Physics

This commit is contained in:
Dander7BD 2013-11-21 17:25:19 +01:00
parent af2b01d975 9749749748
commit eba7995374
11 changed files with 441 additions and 64 deletions
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3
Code/GamePhysics/GamePhysics.vcxproj
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@ -146,10 +146,13 @@
</ItemGroup>
<ItemGroup>
<ClInclude Include="Implementation\PhysicsAPI_Impl.h" />
<ClInclude Include="Implementation\SimpleRigidBody.h" />
<ClInclude Include="PhysicsAPI.h" />
</ItemGroup>
<ItemGroup>
<ClCompile Include="Implementation\NullBody.cpp" />
<ClCompile Include="Implementation\PhysicsAPI_Impl.cpp" />
<ClCompile Include="Implementation\SimpleRigidBody.cpp" />
</ItemGroup>
<Import Project="$(VCTargetsPath)\Microsoft.Cpp.targets" />
<ImportGroup Label="ExtensionTargets">

9
Code/GamePhysics/GamePhysics.vcxproj.filters
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@ -27,10 +27,19 @@
<ClInclude Include="Implementation\PhysicsAPI_Impl.h">
<Filter>Header Files\Implementation</Filter>
</ClInclude>
<ClInclude Include="Implementation\SimpleRigidBody.h">
<Filter>Header Files\Implementation</Filter>
</ClInclude>
</ItemGroup>
<ItemGroup>
<ClCompile Include="Implementation\PhysicsAPI_Impl.cpp">
<Filter>Source Files</Filter>
</ClCompile>
<ClCompile Include="Implementation\SimpleRigidBody.cpp">
<Filter>Source Files</Filter>
</ClCompile>
<ClCompile Include="Implementation\NullBody.cpp">
<Filter>Source Files</Filter>
</ClCompile>
</ItemGroup>
</Project>

83
Code/GamePhysics/Implementation/NullBody.cpp Normal file
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@ -0,0 +1,83 @@
#include "..\PhysicsAPI.h"
using namespace ::Oyster::Physics;
using namespace ::Oyster::Physics::Error;
using namespace ::Oyster::Math;
using namespace ::Oyster::Collision3D;
using namespace ::Utility::DynamicMemory;
NullBody::~NullBody() {}
UniquePointer<ICustomBody> NullBody::Clone() const
{
return new NullBody( *this );
}
bool NullBody::IsSubscribingCollisions() const
{
return false;
}
bool NullBody::Intersects( const ICustomBody &object, Float &deltaWhen, Float3 &worldPointOfContact ) const
{
return false;
}
bool NullBody::Intersects( const ICollideable &shape ) const
{
return false;
}
unsigned int NullBody::GetReference() const
{
return not_a_reference;
}
Sphere & NullBody::GetBoundingSphere( Sphere &targetMem ) const
{
return targetMem = Sphere( Float3::null, 0.0f );
}
Float3 & NullBody::GetNormalAt( const Float3 &worldPos, Float3 &targetMem ) const
{
return targetMem = Float3::standard_unit_z;
}
Float3 & NullBody::GetCenter( Float3 &targetMem ) const
{
return targetMem = Float3::null;
}
Float4x4 & NullBody::GetRotation( Float4x4 &targetMem ) const
{
return targetMem = Float4x4::identity;
}
Float4x4 & NullBody::GetOrientation( Float4x4 &targetMem ) const
{
return targetMem = Float4x4::identity;
}
Float4x4 & NullBody::GetView( Float4x4 &targetMem ) const
{
return targetMem = Float4x4::identity;
}
UpdateState NullBody::Update( Float timeStepLength )
{
return resting;
}
void NullBody::SetMomentOfInertiaTensor_KeepVelocity( const Float4x4 &localI ) {}
void NullBody::SetMomentOfInertiaTensor_KeepMomentum( const Float4x4 &localI ) {}
void NullBody::SetMass_KeepVelocity( Float m ) {}
void NullBody::SetMass_KeepMomentum( Float m ) {}
void NullBody::SetCenter( const Float3 &worldPos ) {}
void NullBody::SetRotation( const Float4x4 &rotation ) {}
void NullBody::SetOrientation( const Float4x4 &orientation ) {}

72
Code/GamePhysics/Implementation/PhysicsAPI_Impl.cpp
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@ -1,7 +1,10 @@
#include "PhysicsAPI_Impl.h"
#include "SimpleRigidBody.h"
using namespace Oyster;
using namespace Physics;
using namespace ::Oyster::Physics;
using namespace ::Oyster::Math;
using namespace ::Oyster::Collision3D;
using namespace ::Utility::DynamicMemory;
API_Impl instance;
@ -42,6 +45,12 @@ void API_Impl::Update()
/** @todo TODO: Fix this function.*/
}
bool API_Impl::IsInLimbo( unsigned int objRef )
{
//! @todo TODO: implement stub
return true;
}
void API_Impl::MoveToLimbo( unsigned int objRef )
{
/** @todo TODO: Fix this function.*/
@ -51,13 +60,70 @@ void API_Impl::ReleaseFromLimbo( unsigned int objRef )
/** @todo TODO: Fix this function.*/
}
unsigned int API_Impl::AddObject( ::Utility::DynamicMemory::UniquePointer<IRigidBody> handle )
unsigned int API_Impl::AddObject( ::Utility::DynamicMemory::UniquePointer<ICustomBody> handle )
{
/** @todo TODO: Fix this function.*/
return 0;
}
::Utility::DynamicMemory::UniquePointer<ICustomBody> ExtractObject( unsigned int objRef )
{
//! @todo TODO: implement stub
return NULL;
}
void API_Impl::DestroyObject( unsigned int objRef )
{
/** @todo TODO: Fix this function.*/
}
void API_Impl::ApplyForceAt( unsigned int objRef, const Float3 &worldPos, const Float3 &worldF )
{
//! @todo TODO: implement stub
}
void API_Impl::ApplyCollisionResponse( unsigned int objRefA, unsigned int objRefB, Float &deltaWhen, Float3 &worldPointOfContact )
{
//! @todo TODO: implement stub
}
void API_Impl::SetMomentOfInertiaTensor_KeepVelocity( unsigned int objRef, const Float4x4 &localI )
{
//! @todo TODO: implement stub
}
void API_Impl::SetMomentOfInertiaTensor_KeepMomentum( unsigned int objRef, const Float4x4 &localI )
{
//! @todo TODO: implement stub
}
void API_Impl::SetMass_KeepVelocity( unsigned int objRef, Float m )
{
//! @todo TODO: implement stub
}
void API_Impl::SetMass_KeepMomentum( unsigned int objRef, Float m )
{
//! @todo TODO: implement stub
}
void API_Impl::SetCenter( unsigned int objRef, const Float3 &worldPos )
{
//! @todo TODO: implement stub
}
void API_Impl::SetRotation( unsigned int objRef, const Float4x4 &rotation )
{
//! @todo TODO: implement stub
}
void API_Impl::SetOrientation( unsigned int objRef, const Float4x4 &orientation )
{
//! @todo TODO: implement stub
}
UniquePointer<ICustomBody> API_Impl::CreateSimpleRigidBody() const
{
return new SimpleRigidBody();
}

19
Code/GamePhysics/Implementation/PhysicsAPI_Impl.h
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@ -20,11 +20,28 @@ namespace Oyster
void Update();
bool IsInLimbo( unsigned int objRef );
void MoveToLimbo( unsigned int objRef );
void ReleaseFromLimbo( unsigned int objRef );
unsigned int AddObject( ::Utility::DynamicMemory::UniquePointer<IRigidBody> handle );
unsigned int AddObject( ::Utility::DynamicMemory::UniquePointer<ICustomBody> handle );
::Utility::DynamicMemory::UniquePointer<ICustomBody> ExtractObject( unsigned int objRef );
void DestroyObject( unsigned int objRef );
const ICustomBody & Peek( unsigned int objRef ) const;
void ApplyForceAt( unsigned int objRef, const ::Oyster::Math::Float3 &worldPos, const ::Oyster::Math::Float3 &worldF );
void ApplyCollisionResponse( unsigned int objRefA, unsigned int objRefB, ::Oyster::Math::Float &deltaWhen, ::Oyster::Math::Float3 &worldPointOfContact );
void SetMomentOfInertiaTensor_KeepVelocity( unsigned int objRef, const ::Oyster::Math::Float4x4 &localI );
void SetMomentOfInertiaTensor_KeepMomentum( unsigned int objRef, const ::Oyster::Math::Float4x4 &localI );
void SetMass_KeepVelocity( unsigned int objRef, ::Oyster::Math::Float m );
void SetMass_KeepMomentum( unsigned int objRef, ::Oyster::Math::Float m );
void SetCenter( unsigned int objRef, const ::Oyster::Math::Float3 &worldPos );
void SetRotation( unsigned int objRef, const ::Oyster::Math::Float4x4 &rotation );
void SetOrientation( unsigned int objRef, const ::Oyster::Math::Float4x4 &orientation );
::Utility::DynamicMemory::UniquePointer<ICustomBody> CreateSimpleRigidBody() const;
};
}

122
Code/GamePhysics/Implementation/SimpleRigidBody.cpp Normal file
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@ -0,0 +1,122 @@
#include "SimpleRigidBody.h"
using namespace ::Oyster::Physics;
using namespace ::Oyster::Math;
using namespace ::Oyster::Collision3D;
using namespace ::Utility::DynamicMemory;
SimpleRigidBody::SimpleRigidBody()
{
//! @todo TODO: implement stub
}
SimpleRigidBody::~SimpleRigidBody()
{
//! @todo TODO: implement stub
}
UniquePointer<ICustomBody> SimpleRigidBody::Clone() const
{
return new SimpleRigidBody( *this );
}
bool SimpleRigidBody::IsSubscribingCollisions() const
{
//! @todo TODO: implement stub
return false;
}
bool SimpleRigidBody::Intersects( const ICustomBody &object, Float &deltaWhen, Float3 &worldPointOfContact ) const
{
//! @todo TODO: implement stub
return false;
}
bool SimpleRigidBody::Intersects( const ICollideable &shape ) const
{
//! @todo TODO: implement stub
return false;
}
unsigned int SimpleRigidBody::GetReference() const
{
//! @todo TODO: implement stub
return Error::not_a_reference;
}
Sphere & SimpleRigidBody::GetBoundingSphere( Sphere &targetMem ) const
{
//! @todo TODO: implement stub
return targetMem = Sphere( Float3::null, 0.0f );
}
Float3 & SimpleRigidBody::GetNormalAt( const Float3 &worldPos, Float3 &targetMem ) const
{
//! @todo TODO: implement stub
return targetMem = Float3::standard_unit_z;
}
Float3 & SimpleRigidBody::GetCenter( Float3 &targetMem ) const
{
//! @todo TODO: implement stub
return targetMem = Float3::null;
}
Float4x4 & SimpleRigidBody::GetRotation( Float4x4 &targetMem ) const
{
//! @todo TODO: implement stub
return targetMem = Float4x4::identity;
}
Float4x4 & SimpleRigidBody::GetOrientation( Float4x4 &targetMem ) const
{
//! @todo TODO: implement stub
return targetMem = Float4x4::identity;
}
Float4x4 & SimpleRigidBody::GetView( Float4x4 &targetMem ) const
{
//! @todo TODO: implement stub
return targetMem = Float4x4::identity;
}
UpdateState SimpleRigidBody::Update( Float timeStepLength )
{
//! @todo TODO: implement stub
return resting;
}
void SimpleRigidBody::SetMomentOfInertiaTensor_KeepVelocity( const Float4x4 &localI )
{
//! @todo TODO: implement stub
}
void SimpleRigidBody::SetMomentOfInertiaTensor_KeepMomentum( const Float4x4 &localI )
{
//! @todo TODO: implement stub
}
void SimpleRigidBody::SetMass_KeepVelocity( Float m )
{
//! @todo TODO: implement stub
}
void SimpleRigidBody::SetMass_KeepMomentum( Float m )
{
//! @todo TODO: implement stub
}
void SimpleRigidBody::SetCenter( const Float3 &worldPos )
{
//! @todo TODO: implement stub
}
void SimpleRigidBody::SetRotation( const Float4x4 &rotation )
{
//! @todo TODO: implement stub
}
void SimpleRigidBody::SetOrientation( const Float4x4 &orientation )
{
//! @todo TODO: implement stub
}

42
Code/GamePhysics/Implementation/SimpleRigidBody.h Normal file
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@ -0,0 +1,42 @@
#ifndef OYSTER_PHYSICS_SIMPLE_RIGIDBODY_H
#define OYSTER_PHYSICS_SIMPLE_RIGIDBODY_H
#include "..\PhysicsAPI.h"
namespace Oyster { namespace Physics
{
class SimpleRigidBody : public ICustomBody
{
public:
SimpleRigidBody();
virtual ~SimpleRigidBody();
::Utility::DynamicMemory::UniquePointer<ICustomBody> Clone() const;
bool IsSubscribingCollisions() const;
bool Intersects( const ICustomBody &object, ::Oyster::Math::Float &deltaWhen, ::Oyster::Math::Float3 &worldPointOfContact ) const;
bool Intersects( const ::Oyster::Collision3D::ICollideable &shape ) const;
unsigned int GetReference() const;
::Oyster::Collision3D::Sphere & GetBoundingSphere( ::Oyster::Collision3D::Sphere &targetMem = ::Oyster::Collision3D::Sphere() ) const;
::Oyster::Math::Float3 & GetNormalAt( const ::Oyster::Math::Float3 &worldPos, ::Oyster::Math::Float3 &targetMem = ::Oyster::Math::Float3() ) const;
::Oyster::Math::Float3 & GetCenter( ::Oyster::Math::Float3 &targetMem = ::Oyster::Math::Float3() ) const;
::Oyster::Math::Float4x4 & GetRotation( ::Oyster::Math::Float4x4 &targetMem = ::Oyster::Math::Float4x4() ) const;
::Oyster::Math::Float4x4 & GetOrientation( ::Oyster::Math::Float4x4 &targetMem = ::Oyster::Math::Float4x4() ) const;
::Oyster::Math::Float4x4 & GetView( ::Oyster::Math::Float4x4 &targetMem = ::Oyster::Math::Float4x4() ) const;
UpdateState Update( ::Oyster::Math::Float timeStepLength );
void SetMomentOfInertiaTensor_KeepVelocity( const ::Oyster::Math::Float4x4 &localI );
void SetMomentOfInertiaTensor_KeepMomentum( const ::Oyster::Math::Float4x4 &localI );
void SetMass_KeepVelocity( ::Oyster::Math::Float m );
void SetMass_KeepMomentum( ::Oyster::Math::Float m );
void SetCenter( const ::Oyster::Math::Float3 &worldPos );
void SetRotation( const ::Oyster::Math::Float4x4 &rotation );
void SetOrientation( const ::Oyster::Math::Float4x4 &orientation );
private:
};
} }
#endif

36
Code/GamePhysics/Include/PhysicsAPI.h
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@ -1,36 +0,0 @@
#ifndef PHYSICS_API_H
#define PHYSICS_API_H
#include "OysterMath.h"
namespace Oyster
{
namespace Physics
{
class API;
class IRigidBody;
class IParticle;
class API
{
public:
static API & Instance();
};
class IRigidBody
{
public:
};
class IParticle
{
public:
};
}
namespace Collision
{}
}
#endif

97
Code/GamePhysics/PhysicsAPI.h
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@ -10,8 +10,7 @@ namespace Oyster
namespace Physics
{
class API;
class IRigidBody;
class IParticle;
class ICustomBody;
enum UpdateState
{
@ -28,7 +27,7 @@ namespace Oyster
{
public:
typedef void (*EventAction_Collision)( unsigned int, unsigned int );
typedef void (*EventAction_Destruction)( unsigned int, ::Utility::DynamicMemory::UniquePointer<IRigidBody> );
typedef void (*EventAction_Destruction)( unsigned int, ::Utility::DynamicMemory::UniquePointer<ICustomBody> );
static API & Instance();
@ -43,34 +42,94 @@ namespace Oyster
virtual void MoveToLimbo( unsigned int objRef ) = 0;
virtual void ReleaseFromLimbo( unsigned int objRef ) = 0;
virtual unsigned int AddObject( ::Utility::DynamicMemory::UniquePointer<IRigidBody> handle ) = 0;
virtual ::Utility::DynamicMemory::UniquePointer<IRigidBody> ExtractObject( unsigned int objRef ) = 0;
virtual unsigned int AddObject( ::Utility::DynamicMemory::UniquePointer<ICustomBody> handle ) = 0;
virtual ::Utility::DynamicMemory::UniquePointer<ICustomBody> ExtractObject( unsigned int objRef ) = 0;
virtual void DestroyObject( unsigned int objRef ) = 0;
virtual const ICustomBody & Peek( unsigned int objRef ) const = 0;
virtual void ApplyForceAt( unsigned int objRef, const ::Oyster::Math::Float3 &worldPos, const ::Oyster::Math::Float3 &worldF ) = 0;
virtual void ApplyCollisionResponse( unsigned int objRefA, unsigned int objRefB, ::Oyster::Math::Float &deltaWhen, ::Oyster::Math::Float3 &worldPointOfContact ) = 0;
virtual void SetMomentOfInertiaTensor_KeepVelocity( unsigned int objRef, const ::Oyster::Math::Float4x4 &localI ) = 0;
virtual void SetMomentOfInertiaTensor_KeepMomentum( unsigned int objRef, const ::Oyster::Math::Float4x4 &localI ) = 0;
virtual void SetMass_KeepVelocity( unsigned int objRef, ::Oyster::Math::Float m ) = 0;
virtual void SetMass_KeepMomentum( unsigned int objRef, ::Oyster::Math::Float m ) = 0;
virtual void SetCenter( unsigned int objRef, const ::Oyster::Math::Float3 &worldPos ) = 0;
virtual void SetRotation( unsigned int objRef, const ::Oyster::Math::Float4x4 &rotation ) = 0;
virtual void SetOrientation( unsigned int objRef, const ::Oyster::Math::Float4x4 &orientation ) = 0;
virtual ::Utility::DynamicMemory::UniquePointer<ICustomBody> CreateSimpleRigidBody() const = 0;
protected:
virtual ~API() {}
};
class IRigidBody
class ICustomBody
{
public:
virtual ~IRigidBody() {};
virtual ~ICustomBody() {};
virtual ::Utility::DynamicMemory::UniquePointer<ICustomBody> Clone() const = 0;
virtual bool IsSubscribingCollisions() const = 0;
virtual bool Intersects( const ICustomBody &object, ::Oyster::Math::Float &deltaWhen, ::Oyster::Math::Float3 &worldPointOfContact ) const = 0;
virtual bool Intersects( const ::Oyster::Collision3D::ICollideable &shape ) const = 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;
virtual ::Oyster::Math::Float3 & GetCenter( ::Oyster::Math::Float3 &targetMem = ::Oyster::Math::Float3() ) const = 0;
virtual ::Oyster::Math::Float4x4 & GetRotation( ::Oyster::Math::Float4x4 &targetMem = ::Oyster::Math::Float4x4() ) const = 0;
virtual ::Oyster::Math::Float4x4 & GetOrientation( ::Oyster::Math::Float4x4 &targetMem = ::Oyster::Math::Float4x4() ) const = 0;
virtual ::Oyster::Math::Float4x4 & GetView( ::Oyster::Math::Float4x4 &targetMem = ::Oyster::Math::Float4x4() ) const = 0;
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;
virtual void SetMomentOfInertiaTensor_KeepVelocity( const ::Oyster::Math::Float4x4 &localI ) = 0;
virtual void SetMomentOfInertiaTensor_KeepMomentum( const ::Oyster::Math::Float4x4 &localI ) = 0;
virtual void SetMass_KeepVelocity( ::Oyster::Math::Float m ) = 0;
virtual void SetMass_KeepMomentum( ::Oyster::Math::Float m ) = 0;
virtual void SetCenter( const ::Oyster::Math::Float3 &worldPos ) = 0;
virtual void SetRotation( const ::Oyster::Math::Float4x4 &rotation ) = 0;
virtual void SetOrientation( const ::Oyster::Math::Float4x4 &orientation ) = 0;
};
class IParticle
namespace Error
{
public:
const unsigned int not_a_reference = ::Utility::Value::numeric_limits<unsigned int>::max();
};
class NullBody : public ICustomBody
{
public:
virtual ~NullBody();
::Utility::DynamicMemory::UniquePointer<ICustomBody> Clone() const;
bool IsSubscribingCollisions() const;
bool Intersects( const ICustomBody &object, ::Oyster::Math::Float &deltaWhen, ::Oyster::Math::Float3 &worldPointOfContact ) const;
bool Intersects( const ::Oyster::Collision3D::ICollideable &shape ) const;
unsigned int GetReference() const;
::Oyster::Collision3D::Sphere & GetBoundingSphere( ::Oyster::Collision3D::Sphere &targetMem = ::Oyster::Collision3D::Sphere() ) const;
::Oyster::Math::Float3 & GetNormalAt( const ::Oyster::Math::Float3 &worldPos, ::Oyster::Math::Float3 &targetMem = ::Oyster::Math::Float3() ) const;
::Oyster::Math::Float3 & GetCenter( ::Oyster::Math::Float3 &targetMem = ::Oyster::Math::Float3() ) const;
::Oyster::Math::Float4x4 & GetRotation( ::Oyster::Math::Float4x4 &targetMem = ::Oyster::Math::Float4x4() ) const;
::Oyster::Math::Float4x4 & GetOrientation( ::Oyster::Math::Float4x4 &targetMem = ::Oyster::Math::Float4x4() ) const;
::Oyster::Math::Float4x4 & GetView( ::Oyster::Math::Float4x4 &targetMem = ::Oyster::Math::Float4x4() ) const;
UpdateState Update( ::Oyster::Math::Float timeStepLength );
void SetMomentOfInertiaTensor_KeepVelocity( const ::Oyster::Math::Float4x4 &localI );
void SetMomentOfInertiaTensor_KeepMomentum( const ::Oyster::Math::Float4x4 &localI );
void SetMass_KeepVelocity( ::Oyster::Math::Float m );
void SetMass_KeepMomentum( ::Oyster::Math::Float m );
void SetCenter( const ::Oyster::Math::Float3 &worldPos );
void SetRotation( const ::Oyster::Math::Float4x4 &rotation );
void SetOrientation( const ::Oyster::Math::Float4x4 &orientation );
} const nobody;
}
}
namespace Collision
{}
}
#endif

19
Code/OysterPhysics3D/RigidBody.cpp
View File

@ -229,7 +229,7 @@ Float3 RigidBody::GetLinearVelocity() const
}
void RigidBody::GetMomentumAt( const Float3 &worldPos, const Float3 &surfaceNormal, Float3 &normalMomentum, Float3 &tangentialMomentum ) const
{
{ // by Dan Andersson
Float3 worldOffset = worldPos - this->box.center;
Float3 momentum = Formula::TangentialLinearMomentum( this->angularMomentum, worldOffset );
momentum += this->linearMomentum;
@ -238,7 +238,18 @@ void RigidBody::GetMomentumAt( const Float3 &worldPos, const Float3 &surfaceNorm
tangentialMomentum = momentum - normalMomentum;
}
void RigidBody::SetMomentOfInertia( const Float4x4 &localI )
void RigidBody::SetMomentOfInertia_KeepVelocity( const ::Oyster::Math::Float4x4 &localI )
{ // by Dan Andersson
if( localI.GetDeterminant() != 0.0f ) // insanitycheck! momentOfInertiaTensor must be invertable
{
Float3 w = Formula::AngularVelocity( (this->box.rotation * this->momentOfInertiaTensor).GetInverse(),
this->angularMomentum );
this->momentOfInertiaTensor = localI;
this->angularMomentum = Formula::AngularMomentum( this->box.rotation*localI, w );
}
}
void RigidBody::SetMomentOfInertia_KeepMomentum( const Float4x4 &localI )
{ // by Dan Andersson
if( localI.GetDeterminant() != 0.0f ) // insanitycheck! momentOfInertiaTensor must be invertable
{
@ -250,9 +261,9 @@ void RigidBody::SetMass_KeepVelocity( const Float &m )
{ // by Dan Andersson
if( m != 0.0f ) // insanitycheck! mass must be invertable
{
Float3 velocity = Formula::LinearVelocity( this->mass, this->linearMomentum );
Float3 v = Formula::LinearVelocity( this->mass, this->linearMomentum );
this->mass = m;
this->linearMomentum = Formula::LinearMomentum( this->mass, velocity );
this->linearMomentum = Formula::LinearMomentum( this->mass, v );
}
}

3
Code/OysterPhysics3D/RigidBody.h
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@ -68,7 +68,8 @@ namespace Oyster { namespace Physics3D
// SET METHODS ////////////////////////////////
void SetMomentOfInertia( const ::Oyster::Math::Float4x4 &localI );
void SetMomentOfInertia_KeepVelocity( const ::Oyster::Math::Float4x4 &localI );
void SetMomentOfInertia_KeepMomentum( const ::Oyster::Math::Float4x4 &localI );
void SetMass_KeepVelocity( const ::Oyster::Math::Float &m );
void SetMass_KeepMomentum( const ::Oyster::Math::Float &m );