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Changed float4 to float3

This commit is contained in:
Robin Engman 2014-01-28 09:52:58 +01:00
parent 018d6e3c5a
commit f96c5a9f7e
5 changed files with 116 additions and 116 deletions
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16
Code/GamePhysics/Implementation/PhysicsAPI_Impl.cpp
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@ -31,8 +31,8 @@ namespace
ICustomBody::State protoState; proto->GetState( protoState );
ICustomBody::State deuterState; deuter->GetState( deuterState );
Float4 protoG = protoState.GetLinearMomentum( worldPointOfContact ),
deuterG = deuterState.GetLinearMomentum( worldPointOfContact );
Float4 protoG = protoState.GetLinearMomentum( worldPointOfContact.xyz ),
deuterG = deuterState.GetLinearMomentum( worldPointOfContact.xyz );
// calc from perspective of deuter
Float4 normal; deuter->GetNormalAt( worldPointOfContact, normal );
@ -40,7 +40,7 @@ namespace
deuterG_Magnitude = deuterG.Dot( normal );
// if they are not relatively moving towards eachother, there is no collision
Float deltaPos = normal.Dot( deuterState.GetCenterPosition() - protoState.GetCenterPosition() );
Float deltaPos = normal.Dot( Float4(deuterState.GetCenterPosition(), 1) - Float4(protoState.GetCenterPosition(), 1) );
if( deltaPos < 0.0f )
{
if( protoG_Magnitude >= deuterG_Magnitude )
@ -95,13 +95,13 @@ namespace
// }
Float kineticEnergyPBefore = Oyster::Physics3D::Formula::LinearKineticEnergy( protoState.GetMass(), protoState.GetLinearMomentum().xyz/protoState.GetMass() );
Float kineticEnergyPBefore = Oyster::Physics3D::Formula::LinearKineticEnergy( protoState.GetMass(), protoState.GetLinearMomentum()/protoState.GetMass() );
// protoState.ApplyForwarding( forwardedDeltaPos, forwardedDeltaAxis );
protoState.ApplyImpulse( bounce, worldPointOfContact, normal );
protoState.ApplyImpulse( bounce.xyz, worldPointOfContact.xyz, normal.xyz );
proto->SetState( protoState );
Float kineticEnergyPAFter = Oyster::Physics3D::Formula::LinearKineticEnergy( protoState.GetMass(), (protoState.GetLinearMomentum().xyz + protoState.GetLinearImpulse().xyz)/protoState.GetMass() );
Float kineticEnergyPAFter = Oyster::Physics3D::Formula::LinearKineticEnergy( protoState.GetMass(), (protoState.GetLinearMomentum() + protoState.GetLinearImpulse())/protoState.GetMass() );
proto->CallSubscription_CollisionResponse( deuter, kineticEnergyPBefore - kineticEnergyPAFter );
@ -179,7 +179,7 @@ void API_Impl::Update()
{
case Gravity::GravityType_Well:
{
Float4 d = Float4( this->gravity[i].well.position, 1.0f ) - state.GetCenterPosition();
Float4 d = Float4( this->gravity[i].well.position, 1.0f ) - Float4( state.GetCenterPosition(), 1.0f );
Float rSquared = d.Dot( d );
if( rSquared != 0.0 )
{
@ -201,7 +201,7 @@ void API_Impl::Update()
if( gravityImpulse != Float4::null )
{
state.ApplyLinearImpulse( gravityImpulse );
state.ApplyLinearImpulse( gravityImpulse.xyz );
(*proto)->SetGravityNormal( gravityImpulse.GetNormalized().xyz );
(*proto)->SetState( state );
}

12
Code/GamePhysics/Implementation/SimpleRigidBody.cpp
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@ -56,7 +56,7 @@ SimpleRigidBody::SimpleRigidBody()
SimpleRigidBody::SimpleRigidBody( const API::SimpleBodyDescription &desc )
{
this->rigid.SetRotation( desc.rotation );
//this->rigid.SetRotation( desc.rotation );
this->rigid.centerPos = desc.centerPosition;
this->rigid.SetSize( desc.size );
this->rigid.SetMass_KeepMomentum( desc.mass );
@ -143,8 +143,8 @@ void SimpleRigidBody::SetState( const SimpleRigidBody::State &state )
if( state.IsForwarded() )
{
this->deltaPos += state.GetForward_DeltaPos();
this->deltaAxis += state.GetForward_DeltaAxis();
this->deltaPos += Float4(state.GetForward_DeltaPos(), 0);
this->deltaAxis += Float4(state.GetForward_DeltaAxis(), 0);
this->isForwarded;
}
@ -205,7 +205,7 @@ Sphere & SimpleRigidBody::GetBoundingSphere( Sphere &targetMem ) const
Float4 & SimpleRigidBody::GetNormalAt( const Float4 &worldPos, Float4 &targetMem ) const
{
Float4 offset = worldPos - this->rigid.centerPos;
Float4 offset = worldPos.xyz - this->rigid.centerPos;
Float distance = offset.Dot( offset );
Float3 normal = Float3::null;
@ -295,7 +295,7 @@ UpdateState SimpleRigidBody::Update( Float timeStepLength )
{
if( this->isForwarded )
{
this->rigid.Move( this->deltaPos, this->deltaAxis );
this->rigid.Move( this->deltaPos.xyz, this->deltaAxis.xyz );
this->deltaPos = Float4::null;
this->deltaAxis = Float4::null;
this->isForwarded = false;
@ -310,7 +310,7 @@ UpdateState SimpleRigidBody::Update( Float timeStepLength )
void SimpleRigidBody::Predict( Float4 &outDeltaPos, Float4 &outDeltaAxis, const Float4 &actingLinearImpulse, const Float4 &actingAngularImpulse, Float deltaTime )
{
this->rigid.Predict_LeapFrog( outDeltaPos, outDeltaAxis, actingLinearImpulse, actingAngularImpulse, deltaTime );
this->rigid.Predict_LeapFrog( outDeltaPos.xyz, outDeltaAxis.xyz, actingLinearImpulse.xyz, actingAngularImpulse.xyz, deltaTime );
}
void SimpleRigidBody::SetScene( void *scene )

12
Code/GamePhysics/Implementation/SphericalRigidBody.cpp
View File

@ -24,7 +24,7 @@ SphericalRigidBody::SphericalRigidBody()
SphericalRigidBody::SphericalRigidBody( const API::SphericalBodyDescription &desc )
{
this->rigid = RigidBody();
this->rigid.SetRotation( desc.rotation );
//this->rigid.SetRotation( desc.rotation );
this->rigid.centerPos = desc.centerPosition;
this->rigid.boundingReach = Float4( desc.radius, desc.radius, desc.radius, 0.0f );
this->rigid.SetMass_KeepMomentum( desc.mass );
@ -108,8 +108,8 @@ void SphericalRigidBody::SetState( const SphericalRigidBody::State &state )
if( state.IsForwarded() )
{
this->deltaPos += state.GetForward_DeltaPos();
this->deltaAxis += state.GetForward_DeltaAxis();
this->deltaPos += Float4(state.GetForward_DeltaPos(), 0);
this->deltaAxis += Float4(state.GetForward_DeltaAxis());
this->isForwarded = false;
}
@ -171,7 +171,7 @@ Sphere & SphericalRigidBody::GetBoundingSphere( Sphere &targetMem ) const
Float4 & SphericalRigidBody::GetNormalAt( const Float4 &worldPos, Float4 &targetMem ) const
{
targetMem = worldPos - this->rigid.centerPos;
targetMem = worldPos.xyz - this->rigid.centerPos;
Float magnitude = targetMem.GetMagnitude();
if( magnitude != 0.0f )
{ // sanity check
@ -220,7 +220,7 @@ UpdateState SphericalRigidBody::Update( Float timeStepLength )
{
if( this->isForwarded )
{
this->rigid.Move( this->deltaPos, this->deltaAxis );
this->rigid.Move( this->deltaPos.xyz, this->deltaAxis.xyz );
this->deltaPos = Float4::null;
this->deltaAxis = Float4::null;
this->isForwarded = false;
@ -235,7 +235,7 @@ UpdateState SphericalRigidBody::Update( Float timeStepLength )
void SphericalRigidBody::Predict( ::Oyster::Math::Float4 &outDeltaPos, ::Oyster::Math::Float4 &outDeltaAxis, const ::Oyster::Math::Float4 &actingLinearImpulse, const ::Oyster::Math::Float4 &actingAngularImpulse, ::Oyster::Math::Float deltaTime )
{
this->rigid.Predict_LeapFrog( outDeltaPos, outDeltaAxis, actingLinearImpulse, actingAngularImpulse, deltaTime );
this->rigid.Predict_LeapFrog( outDeltaPos.xyz, outDeltaAxis.xyz, actingLinearImpulse.xyz, actingAngularImpulse.xyz, deltaTime );
}
void SphericalRigidBody::SetSubscription( ICustomBody::EventAction_Collision functionPointer )

106
Code/GamePhysics/PhysicsStructs-Impl.h
View File

@ -13,8 +13,8 @@ namespace Oyster
inline SimpleBodyDescription::SimpleBodyDescription()
{
this->rotation = ::Oyster::Math::Float4x4::identity;
this->centerPosition = ::Oyster::Math::Float4::standard_unit_w;
this->size = ::Oyster::Math::Float4( 1.0f );
this->centerPosition = ::Oyster::Math::Float3::null;
this->size = ::Oyster::Math::Float3( 1.0f );
this->mass = 12.0f;
this->restitutionCoeff = 1.0f;
this->frictionCoeff_Dynamic = 0.5f;
@ -29,7 +29,7 @@ namespace Oyster
inline SphericalBodyDescription::SphericalBodyDescription()
{
this->rotation = ::Oyster::Math::Float4x4::identity;
this->centerPosition = ::Oyster::Math::Float4::standard_unit_w;
this->centerPosition = ::Oyster::Math::Float3::null;
this->radius = 0.5f;
this->mass = 10.0f;
this->restitutionCoeff = 1.0f;
@ -41,7 +41,7 @@ namespace Oyster
this->ignoreGravity = false;
}
inline CustomBodyState::CustomBodyState( ::Oyster::Math::Float mass, ::Oyster::Math::Float restitutionCoeff, ::Oyster::Math::Float staticFrictionCoeff, ::Oyster::Math::Float kineticFrictionCoeff, const ::Oyster::Physics3D::MomentOfInertia &inertiaTensor, const ::Oyster::Math::Float4 &reach, const ::Oyster::Math::Float4 &centerPos, const ::Oyster::Math::Float4 &rotation, const ::Oyster::Math::Float4 &linearMomentum, const ::Oyster::Math::Float4 &angularMomentum, const ::Oyster::Math::Float4 &gravityNormal )
inline CustomBodyState::CustomBodyState( ::Oyster::Math::Float mass, ::Oyster::Math::Float restitutionCoeff, ::Oyster::Math::Float staticFrictionCoeff, ::Oyster::Math::Float kineticFrictionCoeff, const ::Oyster::Physics3D::MomentOfInertia &inertiaTensor, const ::Oyster::Math::Float3 &reach, const ::Oyster::Math::Float3 &centerPos, const ::Oyster::Math::Float3 &rotation, const ::Oyster::Math::Float3 &linearMomentum, const ::Oyster::Math::Float3 &angularMomentum, const ::Oyster::Math::Float3 &gravityNormal )
{
this->mass = mass;
this->restitutionCoeff = restitutionCoeff;
@ -53,8 +53,8 @@ namespace Oyster
this->angularAxis = rotation;
this->linearMomentum = linearMomentum;
this->angularMomentum = angularMomentum;
this->linearImpulse = this->angularImpulse = ::Oyster::Math::Float4::null;
this->deltaPos = this->deltaAxis = ::Oyster::Math::Float4::null;
this->linearImpulse = this->angularImpulse = ::Oyster::Math::Float3::null;
this->deltaPos = this->deltaAxis = ::Oyster::Math::Float3::null;
this->isSpatiallyAltered = this->isDisturbed = this->isForwarded = false;
this->gravityNormal = gravityNormal;
}
@ -107,87 +107,87 @@ namespace Oyster
return this->inertiaTensor;
}
inline const ::Oyster::Math::Float4 & CustomBodyState::GetReach() const
inline const ::Oyster::Math::Float3 & CustomBodyState::GetReach() const
{
return this->reach;
}
inline ::Oyster::Math::Float4 CustomBodyState::GetSize() const
inline ::Oyster::Math::Float3 CustomBodyState::GetSize() const
{
return 2.0f * this->GetReach();
}
inline const ::Oyster::Math::Float4 & CustomBodyState::GetCenterPosition() const
inline const ::Oyster::Math::Float3 & CustomBodyState::GetCenterPosition() const
{
return this->centerPos;
}
inline const ::Oyster::Math::Float4 & CustomBodyState::GetAngularAxis() const
inline const ::Oyster::Math::Float3 & CustomBodyState::GetAngularAxis() const
{
return this->angularAxis;
}
inline ::Oyster::Math::Float4x4 CustomBodyState::GetRotation() const
{
return ::Oyster::Math3D::RotationMatrix( this->GetAngularAxis().xyz );
return ::Oyster::Math3D::RotationMatrix( this->GetAngularAxis() );
}
inline ::Oyster::Math::Float4x4 CustomBodyState::GetOrientation() const
{
return ::Oyster::Math3D::OrientationMatrix( this->angularAxis.xyz, this->centerPos.xyz );
return ::Oyster::Math3D::OrientationMatrix( this->angularAxis, this->centerPos );
}
inline ::Oyster::Math::Float4x4 CustomBodyState::GetOrientation( const ::Oyster::Math::Float4 &offset ) const
inline ::Oyster::Math::Float4x4 CustomBodyState::GetOrientation( const ::Oyster::Math::Float3 &offset ) const
{
return ::Oyster::Math3D::OrientationMatrix( this->angularAxis.xyz, (this->centerPos + offset).xyz );
return ::Oyster::Math3D::OrientationMatrix( this->angularAxis, (this->centerPos + offset) );
}
inline ::Oyster::Math::Float4x4 CustomBodyState::GetView() const
{
return ::Oyster::Math3D::ViewMatrix( this->angularAxis.xyz, this->centerPos.xyz );
return ::Oyster::Math3D::ViewMatrix( this->angularAxis, this->centerPos );
}
inline ::Oyster::Math::Float4x4 CustomBodyState::GetView( const ::Oyster::Math::Float4 &offset ) const
inline ::Oyster::Math::Float4x4 CustomBodyState::GetView( const ::Oyster::Math::Float3 &offset ) const
{
return ::Oyster::Math3D::ViewMatrix( this->angularAxis.xyz, (this->centerPos + offset).xyz );
return ::Oyster::Math3D::ViewMatrix( this->angularAxis, (this->centerPos + offset) );
}
inline const ::Oyster::Math::Float4 & CustomBodyState::GetLinearMomentum() const
inline const ::Oyster::Math::Float3 & CustomBodyState::GetLinearMomentum() const
{
return this->linearMomentum;
}
inline ::Oyster::Math::Float4 CustomBodyState::GetLinearMomentum( const ::Oyster::Math::Float4 &at ) const
inline ::Oyster::Math::Float3 CustomBodyState::GetLinearMomentum( const ::Oyster::Math::Float3 &at ) const
{
return this->linearMomentum + ::Oyster::Physics3D::Formula::TangentialLinearMomentum( this->angularMomentum, at - this->centerPos );
}
inline const ::Oyster::Math::Float4 & CustomBodyState::GetAngularMomentum() const
inline const ::Oyster::Math::Float3 & CustomBodyState::GetAngularMomentum() const
{
return this->angularMomentum;
}
inline const ::Oyster::Math::Float4 & CustomBodyState::GetLinearImpulse() const
inline const ::Oyster::Math::Float3 & CustomBodyState::GetLinearImpulse() const
{
return this->linearImpulse;
}
inline const ::Oyster::Math::Float4 & CustomBodyState::GetAngularImpulse() const
inline const ::Oyster::Math::Float3 & CustomBodyState::GetAngularImpulse() const
{
return this->angularImpulse;
}
inline const ::Oyster::Math::Float4 & CustomBodyState::GetForward_DeltaPos() const
inline const ::Oyster::Math::Float3 & CustomBodyState::GetForward_DeltaPos() const
{
return this->deltaPos;
}
inline const ::Oyster::Math::Float4 & CustomBodyState::GetForward_DeltaAxis() const
inline const ::Oyster::Math::Float3 & CustomBodyState::GetForward_DeltaAxis() const
{
return this->deltaAxis;
}
inline const ::Oyster::Math::Float4 & CustomBodyState::GetGravityNormal() const
inline const ::Oyster::Math::Float3 & CustomBodyState::GetGravityNormal() const
{
return this->gravityNormal;
}
@ -227,39 +227,39 @@ namespace Oyster
inline void CustomBodyState::SetMomentOfInertia_KeepVelocity( const ::Oyster::Physics3D::MomentOfInertia &tensor )
{
::Oyster::Math::Quaternion rotation = ::Oyster::Math3D::Rotation(this->angularAxis);
::Oyster::Math::Float4 w = this->inertiaTensor.CalculateAngularVelocity( rotation, this->angularMomentum );
::Oyster::Math::Float3 w = this->inertiaTensor.CalculateAngularVelocity( rotation, this->angularMomentum );
this->inertiaTensor = tensor;
this->angularMomentum = this->inertiaTensor.CalculateAngularMomentum( rotation, w );
}
inline void CustomBodyState::SetSize( const ::Oyster::Math::Float4 &size )
inline void CustomBodyState::SetSize( const ::Oyster::Math::Float3 &size )
{
this->SetReach( 0.5f * size );
}
inline void CustomBodyState::SetReach( const ::Oyster::Math::Float4 &halfSize )
inline void CustomBodyState::SetReach( const ::Oyster::Math::Float3 &halfSize )
{
this->reach.xyz = halfSize;
this->reach = ::Utility::Value::Max( this->reach, ::Oyster::Math::Float4::null );
this->reach = halfSize;
this->reach = ::Utility::Value::Max( this->reach, ::Oyster::Math::Float3::null );
this->isSpatiallyAltered = this->isDisturbed = true;
}
inline void CustomBodyState::SetCenterPosition( const ::Oyster::Math::Float4 &centerPos )
inline void CustomBodyState::SetCenterPosition( const ::Oyster::Math::Float3 &centerPos )
{
this->centerPos.xyz = centerPos;
this->centerPos = centerPos;
this->isSpatiallyAltered = this->isDisturbed = true;
}
inline void CustomBodyState::SetRotation( const ::Oyster::Math::Float4 &angularAxis )
inline void CustomBodyState::SetRotation( const ::Oyster::Math::Float3 &angularAxis )
{
this->angularAxis.xyz = angularAxis;
this->angularAxis = angularAxis;
this->isSpatiallyAltered = this->isDisturbed = true;
}
inline void CustomBodyState::SetOrientation( const ::Oyster::Math::Float3 &angularAxis, const ::Oyster::Math::Float3 &translation )
{
this->angularAxis.xyz = angularAxis ;
this->centerPos.xyz = translation;
this->angularAxis = angularAxis ;
this->centerPos = translation;
this->isSpatiallyAltered = this->isDisturbed = true;
}
@ -276,70 +276,70 @@ namespace Oyster
inline void CustomBodyState::SetLinearMomentum( const ::Oyster::Math::Float4 &g )
inline void CustomBodyState::SetLinearMomentum( const ::Oyster::Math::Float3 &g )
{
this->linearMomentum.xyz = g;
this->linearMomentum = g;
this->isDisturbed = true;
}
inline void CustomBodyState::SetAngularMomentum( const ::Oyster::Math::Float4 &h )
inline void CustomBodyState::SetAngularMomentum( const ::Oyster::Math::Float3 &h )
{
this->angularMomentum.xyz = h;
this->angularMomentum = h;
this->isDisturbed = true;
}
inline void CustomBodyState::SetLinearImpulse( const ::Oyster::Math::Float4 &j )
inline void CustomBodyState::SetLinearImpulse( const ::Oyster::Math::Float3 &j )
{
this->linearImpulse.xyz = j;
this->linearImpulse = j;
this->isDisturbed = true;
}
inline void CustomBodyState::SetAngularImpulse( const ::Oyster::Math::Float4 &j )
inline void CustomBodyState::SetAngularImpulse( const ::Oyster::Math::Float3 &j )
{
this->angularImpulse.xyz = j;
this->angularImpulse = j;
this->isDisturbed = true;
}
inline void CustomBodyState::SetGravityNormal( const ::Oyster::Math::Float4 &gravityNormal )
inline void CustomBodyState::SetGravityNormal( const ::Oyster::Math::Float3 &gravityNormal )
{
this->gravityNormal = gravityNormal;
}
inline void CustomBodyState::AddRotation( const ::Oyster::Math::Float4 &angularAxis )
inline void CustomBodyState::AddRotation( const ::Oyster::Math::Float3 &angularAxis )
{
this->angularAxis += angularAxis;
this->isSpatiallyAltered = this->isDisturbed = true;
}
inline void CustomBodyState::AddTranslation( const ::Oyster::Math::Float4 &deltaPos )
inline void CustomBodyState::AddTranslation( const ::Oyster::Math::Float3 &deltaPos )
{
this->centerPos += deltaPos;
this->isSpatiallyAltered = this->isDisturbed = true;
}
inline void CustomBodyState::ApplyLinearImpulse( const ::Oyster::Math::Float4 &j )
inline void CustomBodyState::ApplyLinearImpulse( const ::Oyster::Math::Float3 &j )
{
this->linearImpulse += j;
this->isDisturbed = true;
}
inline void CustomBodyState::ApplyAngularImpulse( const ::Oyster::Math::Float4 &j )
inline void CustomBodyState::ApplyAngularImpulse( const ::Oyster::Math::Float3 &j )
{
this->angularImpulse += j;
this->isDisturbed = true;
}
inline void CustomBodyState::ApplyImpulse( const ::Oyster::Math::Float4 &j, const ::Oyster::Math::Float4 &at, const ::Oyster::Math::Float4 &normal )
inline void CustomBodyState::ApplyImpulse( const ::Oyster::Math::Float3 &j, const ::Oyster::Math::Float3 &at, const ::Oyster::Math::Float3 &normal )
{
::Oyster::Math::Float4 offset = at - this->centerPos;
::Oyster::Math::Float4 deltaAngularImpulse = ::Oyster::Physics3D::Formula::AngularMomentum( j, offset );
::Oyster::Math::Float3 offset = at - this->centerPos;
::Oyster::Math::Float3 deltaAngularImpulse = ::Oyster::Physics3D::Formula::AngularMomentum( j, offset );
this->linearImpulse += j - ::Oyster::Physics3D::Formula::TangentialLinearMomentum( deltaAngularImpulse, offset );
this->angularImpulse += deltaAngularImpulse;
this->isDisturbed = true;
}
inline void CustomBodyState::ApplyForwarding( const ::Oyster::Math::Float4 &deltaPos, const ::Oyster::Math::Float4 &deltaAxis )
inline void CustomBodyState::ApplyForwarding( const ::Oyster::Math::Float3 &deltaPos, const ::Oyster::Math::Float3 &deltaAxis )
{
this->deltaPos += deltaPos;
this->deltaAxis += deltaAxis;

86
Code/GamePhysics/PhysicsStructs.h
View File

@ -12,8 +12,8 @@ namespace Oyster { namespace Physics
struct SimpleBodyDescription
{
::Oyster::Math::Float4x4 rotation;
::Oyster::Math::Float4 centerPosition;
::Oyster::Math::Float4 size;
::Oyster::Math::Float3 centerPosition;
::Oyster::Math::Float3 size;
::Oyster::Math::Float mass;
::Oyster::Math::Float restitutionCoeff;
::Oyster::Math::Float frictionCoeff_Static;
@ -30,7 +30,7 @@ namespace Oyster { namespace Physics
struct SphericalBodyDescription
{
::Oyster::Math::Float4x4 rotation;
::Oyster::Math::Float4 centerPosition;
::Oyster::Math::Float3 centerPosition;
::Oyster::Math::Float radius;
::Oyster::Math::Float mass;
::Oyster::Math::Float restitutionCoeff;
@ -52,12 +52,12 @@ namespace Oyster { namespace Physics
::Oyster::Math::Float staticFrictionCoeff = 1.0f,
::Oyster::Math::Float kineticFrictionCoeff = 1.0f,
const ::Oyster::Physics3D::MomentOfInertia &inertiaTensor = ::Oyster::Physics3D::MomentOfInertia(),
const ::Oyster::Math::Float4 &reach = ::Oyster::Math::Float4::null,
const ::Oyster::Math::Float4 &centerPos = ::Oyster::Math::Float4::standard_unit_w,
const ::Oyster::Math::Float4 &rotation = ::Oyster::Math::Float4::null,
const ::Oyster::Math::Float4 &linearMomentum = ::Oyster::Math::Float4::null,
const ::Oyster::Math::Float4 &angularMomentum = ::Oyster::Math::Float4::null,
const ::Oyster::Math::Float4 &gravityNormal = ::Oyster::Math::Float4::null);
const ::Oyster::Math::Float3 &reach = ::Oyster::Math::Float3::null,
const ::Oyster::Math::Float3 &centerPos = ::Oyster::Math::Float3::null,
const ::Oyster::Math::Float3 &rotation = ::Oyster::Math::Float3::null,
const ::Oyster::Math::Float3 &linearMomentum = ::Oyster::Math::Float3::null,
const ::Oyster::Math::Float3 &angularMomentum = ::Oyster::Math::Float3::null,
const ::Oyster::Math::Float3 &gravityNormal = ::Oyster::Math::Float3::null);
CustomBodyState & operator = ( const CustomBodyState &state );
@ -66,23 +66,23 @@ namespace Oyster { namespace Physics
const ::Oyster::Math::Float GetFrictionCoeff_Static() const;
const ::Oyster::Math::Float GetFrictionCoeff_Kinetic() const;
const ::Oyster::Physics3D::MomentOfInertia & GetMomentOfInertia() const;
const ::Oyster::Math::Float4 & GetReach() const;
::Oyster::Math::Float4 GetSize() const;
const ::Oyster::Math::Float4 & GetCenterPosition() const;
const ::Oyster::Math::Float4 & GetAngularAxis() const;
const ::Oyster::Math::Float3 & GetReach() const;
::Oyster::Math::Float3 GetSize() const;
const ::Oyster::Math::Float3 & GetCenterPosition() const;
const ::Oyster::Math::Float3 & GetAngularAxis() const;
::Oyster::Math::Float4x4 GetRotation() const;
::Oyster::Math::Float4x4 GetOrientation() const;
::Oyster::Math::Float4x4 GetOrientation( const ::Oyster::Math::Float4 &offset ) const;
::Oyster::Math::Float4x4 GetOrientation( const ::Oyster::Math::Float3 &offset ) const;
::Oyster::Math::Float4x4 GetView() const;
::Oyster::Math::Float4x4 GetView( const ::Oyster::Math::Float4 &offset ) const;
const ::Oyster::Math::Float4 & GetLinearMomentum() const;
::Oyster::Math::Float4 GetLinearMomentum( const ::Oyster::Math::Float4 &at ) const;
const ::Oyster::Math::Float4 & GetAngularMomentum() const;
const ::Oyster::Math::Float4 & GetLinearImpulse() const;
const ::Oyster::Math::Float4 & GetAngularImpulse() const;
const ::Oyster::Math::Float4 & GetForward_DeltaPos() const;
const ::Oyster::Math::Float4 & GetForward_DeltaAxis() const;
const ::Oyster::Math::Float4 & GetGravityNormal() const;
::Oyster::Math::Float4x4 GetView( const ::Oyster::Math::Float3 &offset ) const;
const ::Oyster::Math::Float3 & GetLinearMomentum() const;
::Oyster::Math::Float3 GetLinearMomentum( const ::Oyster::Math::Float3 &at ) const;
const ::Oyster::Math::Float3 & GetAngularMomentum() const;
const ::Oyster::Math::Float3 & GetLinearImpulse() const;
const ::Oyster::Math::Float3 & GetAngularImpulse() const;
const ::Oyster::Math::Float3 & GetForward_DeltaPos() const;
const ::Oyster::Math::Float3 & GetForward_DeltaAxis() const;
const ::Oyster::Math::Float3 & GetGravityNormal() const;
void SetMass_KeepMomentum( ::Oyster::Math::Float m );
void SetMass_KeepVelocity( ::Oyster::Math::Float m );
@ -90,26 +90,26 @@ namespace Oyster { namespace Physics
void SetFrictionCoeff( ::Oyster::Math::Float staticU, ::Oyster::Math::Float kineticU );
void SetMomentOfInertia_KeepMomentum( const ::Oyster::Physics3D::MomentOfInertia &tensor );
void SetMomentOfInertia_KeepVelocity( const ::Oyster::Physics3D::MomentOfInertia &tensor );
void SetSize( const ::Oyster::Math::Float4 &size );
void SetReach( const ::Oyster::Math::Float4 &halfSize );
void SetCenterPosition( const ::Oyster::Math::Float4 &centerPos );
void SetRotation( const ::Oyster::Math::Float4 &angularAxis );
void SetSize( const ::Oyster::Math::Float3 &size );
void SetReach( const ::Oyster::Math::Float3 &halfSize );
void SetCenterPosition( const ::Oyster::Math::Float3 &centerPos );
void SetRotation( const ::Oyster::Math::Float3 &angularAxis );
//void SetRotation( const ::Oyster::Math::Float4x4 &rotation );
//void SetOrientation( const ::Oyster::Math::Float4x4 &orientation );
void SetOrientation( const ::Oyster::Math::Float3 &angularAxis, const ::Oyster::Math::Float3 &translation );
void SetLinearMomentum( const ::Oyster::Math::Float4 &g );
void SetAngularMomentum( const ::Oyster::Math::Float4 &h );
void SetLinearImpulse( const ::Oyster::Math::Float4 &j );
void SetAngularImpulse( const ::Oyster::Math::Float4 &j );
void SetGravityNormal( const ::Oyster::Math::Float4 &gravityNormal );
void SetLinearMomentum( const ::Oyster::Math::Float3 &g );
void SetAngularMomentum( const ::Oyster::Math::Float3 &h );
void SetLinearImpulse( const ::Oyster::Math::Float3 &j );
void SetAngularImpulse( const ::Oyster::Math::Float3 &j );
void SetGravityNormal( const ::Oyster::Math::Float3 &gravityNormal );
void AddRotation( const ::Oyster::Math::Float4 &angularAxis );
void AddTranslation( const ::Oyster::Math::Float4 &deltaPos );
void AddRotation( const ::Oyster::Math::Float3 &angularAxis );
void AddTranslation( const ::Oyster::Math::Float3 &deltaPos );
void ApplyLinearImpulse( const ::Oyster::Math::Float4 &j );
void ApplyAngularImpulse( const ::Oyster::Math::Float4 &j );
void ApplyImpulse( const ::Oyster::Math::Float4 &j, const ::Oyster::Math::Float4 &at, const ::Oyster::Math::Float4 &normal );
void ApplyForwarding( const ::Oyster::Math::Float4 &deltaPos, const ::Oyster::Math::Float4 &deltaAxis );
void ApplyLinearImpulse( const ::Oyster::Math::Float3 &j );
void ApplyAngularImpulse( const ::Oyster::Math::Float3 &j );
void ApplyImpulse( const ::Oyster::Math::Float3 &j, const ::Oyster::Math::Float3 &at, const ::Oyster::Math::Float3 &normal );
void ApplyForwarding( const ::Oyster::Math::Float3 &deltaPos, const ::Oyster::Math::Float3 &deltaAxis );
bool IsSpatiallyAltered() const;
bool IsDisturbed() const;
@ -118,11 +118,11 @@ namespace Oyster { namespace Physics
private:
::Oyster::Math::Float mass, restitutionCoeff, staticFrictionCoeff, kineticFrictionCoeff;
::Oyster::Physics3D::MomentOfInertia inertiaTensor;
::Oyster::Math::Float4 reach, centerPos, angularAxis;
::Oyster::Math::Float4 linearMomentum, angularMomentum;
::Oyster::Math::Float4 linearImpulse, angularImpulse;
::Oyster::Math::Float4 deltaPos, deltaAxis; // Forwarding data sum
::Oyster::Math::Float4 gravityNormal;
::Oyster::Math::Float3 reach, centerPos, angularAxis;
::Oyster::Math::Float3 linearMomentum, angularMomentum;
::Oyster::Math::Float3 linearImpulse, angularImpulse;
::Oyster::Math::Float3 deltaPos, deltaAxis; // Forwarding data sum
::Oyster::Math::Float3 gravityNormal;
bool isSpatiallyAltered, isDisturbed, isForwarded;
};