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

Code/GamePhysics/Implementation/Octree.cpp

@@ -40,6 +40,7 @@ void Octree::AddObject(UniquePointer< ICustomBody > customBodyRef)
 	data.next = NULL;
 	data.prev = NULL;
 	data.customBodyRef = customBodyRef;
+	data.limbo = false;
 	this->mapReferences.insert(std::pair <ICustomBody*, unsigned int> (data.customBodyRef, this->leafData.size()));
 	this->leafData.push_back(data);
 
@@ -64,6 +65,33 @@ void Octree::MoveToUpdateQueue(UniquePointer< ICustomBody > customBodyRef)
 	this->updateQueue.push_back(&this->leafData[this->mapReferences[customBodyRef]]);*/
 }
 
+void Octree::MoveToLimbo(const ICustomBody* customBodyRef)
+{
+	auto object = this->mapReferences.find(customBodyRef);
+
+	unsigned int tempRef = object->second;
+
+	this->leafData[tempRef].limbo = true;
+}
+
+bool Octree::IsInLimbo(const ICustomBody* customBodyRef)
+{
+	auto object = this->mapReferences.find(customBodyRef);
+
+	unsigned int tempRef = object->second;
+
+	return this->leafData[tempRef].limbo;
+}
+
+void Octree::ReleaseFromLimbo(const ICustomBody* customBodyRef)
+{
+	auto object = this->mapReferences.find(customBodyRef);
+
+	unsigned int tempRef = object->second;
+
+	this->leafData[tempRef].limbo = false;
+}
+
 void Octree::DestroyObject(UniquePointer< ICustomBody > customBodyRef)
 {
 	std::map<const ICustomBody*, unsigned int>::iterator it = this->mapReferences.find(customBodyRef);
@@ -86,7 +114,7 @@ std::vector<ICustomBody*>& Octree::Sample(ICustomBody* customBodyRef, std::vecto
 
 	for(unsigned int i = 0; i<this->leafData.size(); i++)
 	{
-		if(tempRef != i) if(this->leafData[tempRef].container.Intersects(this->leafData[i].container))
+		if(tempRef != i && !this->leafData[i].limbo) if(this->leafData[tempRef].container.Intersects(this->leafData[i].container))
 		{
 			updateList.push_back(this->leafData[i].customBodyRef);
 		}
@@ -99,7 +127,7 @@ std::vector<ICustomBody*>& Octree::Sample(const Oyster::Collision3D::ICollideabl
 {
 	for(unsigned int i = 0; i<this->leafData.size(); i++)
 	{
-		if(this->leafData[i].container.Intersects(collideable))
+		if(!this->leafData[i].limbo && this->leafData[i].container.Intersects(collideable))
 		{
 			updateList.push_back(this->leafData[i].customBodyRef);
 		}
@@ -121,7 +149,7 @@ void Octree::Visit(ICustomBody* customBodyRef, VisitorAction hitAction )
 
 	for(unsigned int i = 0; i<this->leafData.size(); i++)
 	{
-		if(tempRef != i) if(this->leafData[tempRef].container.Intersects(this->leafData[i].container))
+		if(tempRef != i && !this->leafData[i].limbo) if(this->leafData[tempRef].container.Intersects(this->leafData[i].container))
 		{
 			hitAction(*this, tempRef, i);
 		}
@@ -132,7 +160,7 @@ void Octree::Visit(const Oyster::Collision3D::ICollideable& collideable, void* a
 {
 	for(unsigned int i = 0; i<this->leafData.size(); i++)
 	{
-		if(collideable.Intersects(this->leafData[i].container))
+		if(!this->leafData[i].limbo && collideable.Intersects(this->leafData[i].container))
 		{
 			hitAction( this->GetCustomBody(i), args );
 		}

Code/GamePhysics/Implementation/Octree.h

@@ -29,6 +29,8 @@ namespace Oyster
 
 				::Utility::DynamicMemory::UniquePointer< ICustomBody > customBodyRef;
 
+				bool limbo;
+
 				unsigned int queueRef;
 			};
 
@@ -48,6 +50,10 @@ namespace Oyster
 
 			void MoveToUpdateQueue(::Utility::DynamicMemory::UniquePointer< ICustomBody > customBodyRef);
 
+			void MoveToLimbo(const ICustomBody* customBodyRef);
+			bool IsInLimbo(const ICustomBody* customBodyRef);
+			void ReleaseFromLimbo(const ICustomBody* customBodyRef);
+
 			void DestroyObject(::Utility::DynamicMemory::UniquePointer< ICustomBody > customBodyRef);
 
 			std::vector<ICustomBody*>& Sample(ICustomBody* customBodyRef, std::vector<ICustomBody*>& updateList);
@@ -66,6 +72,7 @@ namespace Oyster
 		private:
 			std::vector < Data > leafData;
 			std::vector < Data* > updateQueue;
+			std::vector < Data* > limbo;
 
 			std::map< const ICustomBody*, unsigned int > mapReferences;
 

Code/GamePhysics/Implementation/PhysicsAPI_Impl.cpp

@@ -78,10 +78,14 @@ namespace
 																			deuterState.GetMass(), deuterG_Magnitude );
 
 			Float4 bounce = Average( bounceD, bounceP );
+
+			Float4 friction = Formula::CollisionResponse::Friction( protoG_Magnitude, normal,
+															  Float4(protoState.GetLinearMomentum(), 0),  protoState.GetFrictionCoeff_Static(),  protoState.GetFrictionCoeff_Kinetic(),  protoState.GetMass(), 
+															  Float4(deuterState.GetLinearMomentum(), 0), deuterState.GetFrictionCoeff_Static(), deuterState.GetFrictionCoeff_Kinetic(), deuterState.GetMass());
 			
 			Float kineticEnergyPBefore = Oyster::Physics3D::Formula::LinearKineticEnergy( protoState.GetMass(), protoState.GetLinearMomentum()/protoState.GetMass() );
 
-			protoState.ApplyImpulse( bounce.xyz, worldPointOfContact.xyz, normal.xyz );
+			protoState.ApplyImpulse( bounce.xyz - friction.xyz, worldPointOfContact.xyz, normal.xyz );
 			proto->SetState( protoState );
 
 			Float kineticEnergyPAFter = Oyster::Physics3D::Formula::LinearKineticEnergy( protoState.GetMass(), (protoState.GetLinearMomentum() + protoState.GetLinearImpulse())/protoState.GetMass() );
@@ -233,17 +237,16 @@ void API_Impl::Update()
 
 bool API_Impl::IsInLimbo( const ICustomBody* objRef )
 {
-	//! @todo TODO: implement stub
+	return this->worldScene.IsInLimbo( objRef );
-	return true;
 }
 
 void API_Impl::MoveToLimbo( const ICustomBody* objRef )
 {
-	/** @todo TODO: Fix this function.*/
+	this->worldScene.MoveToLimbo( objRef );
 }
 void API_Impl::ReleaseFromLimbo( const ICustomBody* objRef )
 {
-	/** @todo TODO: Fix this function.*/
+	this->worldScene.ReleaseFromLimbo( objRef );
 }
 
 void API_Impl::AddObject( ::Utility::DynamicMemory::UniquePointer<ICustomBody> handle )

Code/OysterPhysics3D/RigidBody.cpp

@@ -49,6 +49,10 @@ void RigidBody::Update_LeapFrog( Float updateFrameLength )
 { // by Dan Andersson: Euler leap frog update when Runga Kutta is not needed
 	
 	// updating the linear
+	//Decrease momentum with 1% as "fall-off"
+	//! HACK: @todo Add real solution with fluid drag
+	this->momentum_Linear = this->momentum_Linear*0.99f;
+	this->momentum_Angular = this->momentum_Angular*0.99f;
 	// ds = dt * Formula::LinearVelocity( m, avg_G ) = dt * avg_G / m = (dt / m) * avg_G
 	Float3 deltaPos = ( updateFrameLength / this->mass ) * AverageWithDelta( this->momentum_Linear, this->impulse_Linear );
 	if( deltaPos.GetLength() < 0.001f )