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GameServer - Merged with GameLogic

This commit is contained in:
Dennis Andersen 2014-01-30 00:19:00 +01:00
parent 1e89bb4e30 446bdd412b
commit fa29cd7307
80 changed files with 3122 additions and 813 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

0
Bin/Script/PLACEHOLDER
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2
Bin/Settings/ServerInit.ini
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@ -1,2 +0,0 @@
port 15151
clients 200

4
Bin/Settings/serversearchpath.ini
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@ -1,4 +0,0 @@
ServerInit ..\Settings\ServerInit.ini
More a
more b
more c

42
Code/DanBias.sln
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@ -39,10 +39,12 @@ Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "GameProtocols", "Game\GameP
EndProject
Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "DanBiasServerLauncher", "Game\DanBiasServerLauncher\DanBiasServerLauncher.vcxproj", "{060B1890-CBF3-4808-BA99-A4776222093B}"
EndProject
Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "aDanBiasGameLauncher", "Game\aDanBiasGameLauncher\aDanBiasGameLauncher.vcxproj", "{666FEA52-975F-41CD-B224-B19AF3C0ABBA}"
Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "Physics lab", "Physics lab\Physics lab.vcxproj", "{5128BD77-6472-4C4A-BE6F-724AD0E589C2}"
EndProject
Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "GameServer", "Game\GameServer\GameServer.vcxproj", "{143BD516-20A1-4890-A3E4-F8BFD02220E7}"
EndProject
Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "aDanBiasGameLauncher", "Game\aDanBiasGameLauncher\aDanBiasGameLauncher.vcxproj", "{666FEA52-975F-41CD-B224-B19AF3C0ABBA}"
EndProject
Global
GlobalSection(SolutionConfigurationPlatforms) = preSolution
Debug|Mixed Platforms = Debug|Mixed Platforms
@ -257,18 +259,18 @@ Global
{060B1890-CBF3-4808-BA99-A4776222093B}.Release|Win32.Build.0 = Release|Win32
{060B1890-CBF3-4808-BA99-A4776222093B}.Release|x64.ActiveCfg = Release|x64
{060B1890-CBF3-4808-BA99-A4776222093B}.Release|x64.Build.0 = Release|x64
{666FEA52-975F-41CD-B224-B19AF3C0ABBA}.Debug|Mixed Platforms.ActiveCfg = Debug|Win32
{666FEA52-975F-41CD-B224-B19AF3C0ABBA}.Debug|Mixed Platforms.Build.0 = Debug|Win32
{666FEA52-975F-41CD-B224-B19AF3C0ABBA}.Debug|Win32.ActiveCfg = Debug|Win32
{666FEA52-975F-41CD-B224-B19AF3C0ABBA}.Debug|Win32.Build.0 = Debug|Win32
{666FEA52-975F-41CD-B224-B19AF3C0ABBA}.Debug|x64.ActiveCfg = Debug|x64
{666FEA52-975F-41CD-B224-B19AF3C0ABBA}.Debug|x64.Build.0 = Debug|x64
{666FEA52-975F-41CD-B224-B19AF3C0ABBA}.Release|Mixed Platforms.ActiveCfg = Release|Win32
{666FEA52-975F-41CD-B224-B19AF3C0ABBA}.Release|Mixed Platforms.Build.0 = Release|Win32
{666FEA52-975F-41CD-B224-B19AF3C0ABBA}.Release|Win32.ActiveCfg = Release|Win32
{666FEA52-975F-41CD-B224-B19AF3C0ABBA}.Release|Win32.Build.0 = Release|Win32
{666FEA52-975F-41CD-B224-B19AF3C0ABBA}.Release|x64.ActiveCfg = Release|x64
{666FEA52-975F-41CD-B224-B19AF3C0ABBA}.Release|x64.Build.0 = Release|x64
{5128BD77-6472-4C4A-BE6F-724AD0E589C2}.Debug|Mixed Platforms.ActiveCfg = Debug|Win32
{5128BD77-6472-4C4A-BE6F-724AD0E589C2}.Debug|Mixed Platforms.Build.0 = Debug|Win32
{5128BD77-6472-4C4A-BE6F-724AD0E589C2}.Debug|Win32.ActiveCfg = Debug|Win32
{5128BD77-6472-4C4A-BE6F-724AD0E589C2}.Debug|Win32.Build.0 = Debug|Win32
{5128BD77-6472-4C4A-BE6F-724AD0E589C2}.Debug|x64.ActiveCfg = Debug|x64
{5128BD77-6472-4C4A-BE6F-724AD0E589C2}.Debug|x64.Build.0 = Debug|x64
{5128BD77-6472-4C4A-BE6F-724AD0E589C2}.Release|Mixed Platforms.ActiveCfg = Release|Win32
{5128BD77-6472-4C4A-BE6F-724AD0E589C2}.Release|Mixed Platforms.Build.0 = Release|Win32
{5128BD77-6472-4C4A-BE6F-724AD0E589C2}.Release|Win32.ActiveCfg = Release|Win32
{5128BD77-6472-4C4A-BE6F-724AD0E589C2}.Release|Win32.Build.0 = Release|Win32
{5128BD77-6472-4C4A-BE6F-724AD0E589C2}.Release|x64.ActiveCfg = Release|x64
{5128BD77-6472-4C4A-BE6F-724AD0E589C2}.Release|x64.Build.0 = Release|x64
{143BD516-20A1-4890-A3E4-F8BFD02220E7}.Debug|Mixed Platforms.ActiveCfg = Debug|Win32
{143BD516-20A1-4890-A3E4-F8BFD02220E7}.Debug|Mixed Platforms.Build.0 = Debug|Win32
{143BD516-20A1-4890-A3E4-F8BFD02220E7}.Debug|Win32.ActiveCfg = Debug|Win32
@ -281,6 +283,18 @@ Global
{143BD516-20A1-4890-A3E4-F8BFD02220E7}.Release|Win32.Build.0 = Release|Win32
{143BD516-20A1-4890-A3E4-F8BFD02220E7}.Release|x64.ActiveCfg = Release|x64
{143BD516-20A1-4890-A3E4-F8BFD02220E7}.Release|x64.Build.0 = Release|x64
{666FEA52-975F-41CD-B224-B19AF3C0ABBA}.Debug|Mixed Platforms.ActiveCfg = Debug|Win32
{666FEA52-975F-41CD-B224-B19AF3C0ABBA}.Debug|Mixed Platforms.Build.0 = Debug|Win32
{666FEA52-975F-41CD-B224-B19AF3C0ABBA}.Debug|Win32.ActiveCfg = Debug|Win32
{666FEA52-975F-41CD-B224-B19AF3C0ABBA}.Debug|Win32.Build.0 = Debug|Win32
{666FEA52-975F-41CD-B224-B19AF3C0ABBA}.Debug|x64.ActiveCfg = Debug|x64
{666FEA52-975F-41CD-B224-B19AF3C0ABBA}.Debug|x64.Build.0 = Debug|x64
{666FEA52-975F-41CD-B224-B19AF3C0ABBA}.Release|Mixed Platforms.ActiveCfg = Release|Win32
{666FEA52-975F-41CD-B224-B19AF3C0ABBA}.Release|Mixed Platforms.Build.0 = Release|Win32
{666FEA52-975F-41CD-B224-B19AF3C0ABBA}.Release|Win32.ActiveCfg = Release|Win32
{666FEA52-975F-41CD-B224-B19AF3C0ABBA}.Release|Win32.Build.0 = Release|Win32
{666FEA52-975F-41CD-B224-B19AF3C0ABBA}.Release|x64.ActiveCfg = Release|x64
{666FEA52-975F-41CD-B224-B19AF3C0ABBA}.Release|x64.Build.0 = Release|x64
EndGlobalSection
GlobalSection(SolutionProperties) = preSolution
HideSolutionNode = FALSE
@ -295,7 +309,7 @@ Global
{8690FDDF-C5B7-4C42-A337-BD5243F29B85} = {20720CA7-795C-45AD-A302-9383A6DD503A}
{DA2AA800-ED64-4649-8B3B-E7F1E3968B78} = {20720CA7-795C-45AD-A302-9383A6DD503A}
{060B1890-CBF3-4808-BA99-A4776222093B} = {20720CA7-795C-45AD-A302-9383A6DD503A}
{666FEA52-975F-41CD-B224-B19AF3C0ABBA} = {20720CA7-795C-45AD-A302-9383A6DD503A}
{143BD516-20A1-4890-A3E4-F8BFD02220E7} = {20720CA7-795C-45AD-A302-9383A6DD503A}
{666FEA52-975F-41CD-B224-B19AF3C0ABBA} = {20720CA7-795C-45AD-A302-9383A6DD503A}
EndGlobalSection
EndGlobal

277
Code/Dokumentation/LevelLoader.uxf Normal file
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@ -0,0 +1,277 @@
<?xml version="1.0" encoding="UTF-8" standalone="no"?>
<diagram program="umlet" version="12.0">
<zoom_level>8</zoom_level>
<element>
<type>com.umlet.element.Package</type>
<coordinates>
<x>552</x>
<y>320</y>
<w>584</w>
<h>368</h>
</coordinates>
<panel_attributes>LevelLoader</panel_attributes>
<additional_attributes/>
</element>
<element>
<type>com.umlet.element.Class</type>
<coordinates>
<x>440</x>
<y>88</y>
<w>128</w>
<h>40</h>
</coordinates>
<panel_attributes>GameLogic
&lt;&lt;Erik&gt;&gt;</panel_attributes>
<additional_attributes/>
</element>
<element>
<type>com.umlet.element.Relation</type>
<coordinates>
<x>768</x>
<y>472</y>
<w>136</w>
<h>104</h>
</coordinates>
<panel_attributes>lt=&lt;&lt;&lt;&lt;-</panel_attributes>
<additional_attributes>120;24;120;88;24;88</additional_attributes>
</element>
<element>
<type>com.umlet.element.Class</type>
<coordinates>
<x>560</x>
<y>544</y>
<w>232</w>
<h>136</h>
</coordinates>
<panel_attributes>&lt;&lt;Interface&gt;&gt;
Parser
--
Functions:
vector&lt;struct&gt; Parse();
-
Privates:
enum headerType;
const int FileHeaderSize;
const int FileVersion;
</panel_attributes>
<additional_attributes/>
</element>
<element>
<type>com.umlet.element.Class</type>
<coordinates>
<x>624</x>
<y>208</y>
<w>80</w>
<h>24</h>
</coordinates>
<panel_attributes>LevelLoader
</panel_attributes>
<additional_attributes/>
</element>
<element>
<type>com.umlet.element.Relation</type>
<coordinates>
<x>640</x>
<y>208</y>
<w>40</w>
<h>168</h>
</coordinates>
<panel_attributes>lt=&lt;&lt;.</panel_attributes>
<additional_attributes>24;24;24;152</additional_attributes>
</element>
<element>
<type>com.umlet.element.Relation</type>
<coordinates>
<x>384</x>
<y>176</y>
<w>256</w>
<h>56</h>
</coordinates>
<panel_attributes>lt=-&gt;&gt;&gt;&gt;
m1=1..1
m2=1..1
&lt;Knows about</panel_attributes>
<additional_attributes>240;40;24;40</additional_attributes>
</element>
<element>
<type>com.umlet.element.Package</type>
<coordinates>
<x>248</x>
<y>320</y>
<w>248</w>
<h>160</h>
</coordinates>
<panel_attributes>Defines</panel_attributes>
<additional_attributes/>
</element>
<element>
<type>com.umlet.element.Class</type>
<coordinates>
<x>800</x>
<y>360</y>
<w>208</w>
<h>136</h>
</coordinates>
<panel_attributes>&lt;&lt;Interface&gt;&gt;
Loader
--
Functions:
wchar* LoadFile(string fileName);
Model* LoadModel(string modelName);
Model* LoadModel(int modelID);
-
Privates:</panel_attributes>
<additional_attributes/>
</element>
<element>
<type>com.umlet.element.Class</type>
<coordinates>
<x>328</x>
<y>208</y>
<w>80</w>
<h>24</h>
</coordinates>
<panel_attributes>Defines</panel_attributes>
<additional_attributes/>
</element>
<element>
<type>com.umlet.element.Class</type>
<coordinates>
<x>256</x>
<y>360</y>
<w>232</w>
<h>104</h>
</coordinates>
<panel_attributes>Defines.h
&lt;&lt;Header file&gt;&gt;
--
Enum ObjectType(static, dynamic, specials);
.
Struct static;
Struct dynamic;
Struct specials</panel_attributes>
<additional_attributes/>
</element>
<element>
<type>com.umlet.element.Relation</type>
<coordinates>
<x>680</x>
<y>176</y>
<w>152</w>
<h>56</h>
</coordinates>
<panel_attributes>lt=-
m1=1..1
m2=1..1
Uses&gt;</panel_attributes>
<additional_attributes>24;40;136;40</additional_attributes>
</element>
<element>
<type>com.umlet.element.Class</type>
<coordinates>
<x>816</x>
<y>192</y>
<w>128</w>
<h>40</h>
</coordinates>
<panel_attributes>Resource Loader
&lt;&lt;Dennis&gt;&gt;&lt;&lt;Singleton&gt;</panel_attributes>
<additional_attributes/>
</element>
<element>
<type>com.umlet.element.Class</type>
<coordinates>
<x>928</x>
<y>560</y>
<w>200</w>
<h>120</h>
</coordinates>
<panel_attributes>Collection of functions
&lt;&lt;lots of functions&gt;&gt;
--
functions for creating the right structs</panel_attributes>
<additional_attributes/>
</element>
<element>
<type>com.umlet.element.Relation</type>
<coordinates>
<x>768</x>
<y>576</y>
<w>176</w>
<h>56</h>
</coordinates>
<panel_attributes>lt=-
m1=1..1
m2=1..1
Uses&gt;</panel_attributes>
<additional_attributes>24;40;160;40</additional_attributes>
</element>
<element>
<type>com.umlet.element.Class</type>
<coordinates>
<x>560</x>
<y>360</y>
<w>232</w>
<h>136</h>
</coordinates>
<panel_attributes>LevelLoader
&lt;&lt;API&gt;&gt;&lt;Interface&gt;&gt;
--
Functions:
vector&lt;struct&gt; LoadLevel(String fileName);
struct LoadLevelHeader(String fileName);
-
Privates:
</panel_attributes>
<additional_attributes/>
</element>
<element>
<type>com.umlet.element.Relation</type>
<coordinates>
<x>344</x>
<y>208</y>
<w>40</w>
<h>168</h>
</coordinates>
<panel_attributes>lt=&lt;&lt;.</panel_attributes>
<additional_attributes>24;24;24;152</additional_attributes>
</element>
<element>
<type>com.umlet.element.Relation</type>
<coordinates>
<x>840</x>
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<w>88</w>
<h>168</h>
</coordinates>
<panel_attributes>lt=.
&lt;Uses</panel_attributes>
<additional_attributes>24;24;24;64;72;64;72;152</additional_attributes>
</element>
<element>
<type>com.umlet.element.Relation</type>
<coordinates>
<x>656</x>
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<w>40</w>
<h>88</h>
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<panel_attributes>lt=&lt;&lt;&lt;&lt;-</panel_attributes>
<additional_attributes>24;72;24;24</additional_attributes>
</element>
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<type>com.umlet.element.Relation</type>
<coordinates>
<x>544</x>
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<w>136</w>
<h>160</h>
</coordinates>
<panel_attributes>lt=lt=-&gt;&gt;&gt;&gt;
m1=1..1
m2=1..1
Uses&gt;</panel_attributes>
<additional_attributes>24;40;80;40;120;40;120;144</additional_attributes>
</element>
</diagram>

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Code/Dokumentation/Other/Timestep_Impulse_Fix.odt Normal file
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Code/Dokumentation/Other/Timestep_Impulse_Fix.pdf Normal file
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Code/Dokumentation/Other/angular_momentum_to_angular_velocity.pdf Normal file
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1059
Code/Dokumentation/Physics_Sprint3.uxf Normal file
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20
Code/Game/DanBiasGame/GameClientRecieverFunc.h
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@ -13,6 +13,13 @@ struct GameRecieverObject :public Oyster::Network::NetworkClient
// parsing protocols and sending it to the gameState
void NetworkCallback(Oyster::Network::CustomNetProtocol& p) override
{
//if( IsGameplayProtocol(p[protocol_INDEX_ID].value.netShort) )
//ParseGameplayEvent(e.protocol, e.gameClient);
//if( IsGeneralProtocol(p[protocol_INDEX_ID].value.netShort) )
//ParseGeneralEvent(e.protocol, e.gameClient);
int pType = p[0].value.netInt;
switch (pType)
{
@ -88,18 +95,15 @@ struct GameRecieverObject :public Oyster::Network::NetworkClient
case protocol_Gameplay_ObjectPosition:
{
Client::GameClientState::ObjPos* protocolData = new Client::GameClientState::ObjPos;
protocolData->object_ID = p[1].value.netInt;
Client::GameClientState::ObjPos protocolData;
protocolData.object_ID = p[1].value.netInt;
for(int i = 0; i< 16; i++)
{
protocolData->worldPos[i] = p[i+2].value.netFloat;
protocolData.worldPos[i] = p[i+2].value.netFloat;
}
if(dynamic_cast<Client::GameState*>(gameClientState))
((Client::GameState*)gameClientState)->Protocol(protocolData);
delete protocolData;
protocolData = NULL;
((Client::GameState*)gameClientState)->Protocol(&protocolData);
}
break;
@ -107,6 +111,8 @@ struct GameRecieverObject :public Oyster::Network::NetworkClient
break;
}
}
};
}

67
Code/Game/DanBiasGame/GameClientState/GameState.cpp
View File

@ -75,33 +75,10 @@ bool GameState::LoadModels(std::wstring mapFile)
// init models
privData->modelCount = 2;
// add world model
ModelInitData modelData;
modelData.world = Oyster::Math3D::Float4x4::identity;
Oyster::Math3D::Float4x4 translate = Oyster::Math3D::TranslationMatrix(Oyster::Math::Float3(-2,-2,-2));
modelData.world = modelData.world * translate;
modelData.visible = true;
modelData.modelPath = L"..\\Content\\Models\\char_white.dan";
modelData.id = 0;
// load models
C_Object* obj = new C_Player();
privData->object.push_back(obj);
privData->object[privData->object.size() -1 ]->Init(modelData);
translate = Oyster::Math3D::TranslationMatrix(Oyster::Math::Float3(-2,2,2));
modelData.world = modelData.world * translate;
modelData.modelPath = L"..\\Content\\Models\\char_white.dan";
modelData.id ++;
obj = new C_Player();
privData->object.push_back(obj);
privData->object[privData->object.size() -1 ]->Init(modelData);
/*translate = Oyster::Math3D::TranslationMatrix(Oyster::Math::Float3(-2,-2,-2));
modelData.world = modelData.world * translate;
modelData.modelPath = L"..\\Content\\Models\\char_white.dan";
modelData.id ++;*/
Oyster::Math3D::Float4x4 translate;
C_Object* obj;
translate = Oyster::Math3D::TranslationMatrix(Oyster::Math::Float3(0,0,0));
Oyster::Math3D::Float4x4 scale = Oyster::Math3D::Float4x4::identity;
scale.v[0].x = 8;
@ -109,12 +86,40 @@ bool GameState::LoadModels(std::wstring mapFile)
scale.v[2].z = 8;
modelData.world = scale; //modelData.world * translate
modelData.modelPath = L"..\\Content\\Models\\ball.dan";
modelData.id ++;
modelData.id = 0;
obj = new C_Player();
privData->object.push_back(obj);
privData->object[privData->object.size() -1 ]->Init(modelData);
// add box model
modelData.world = Oyster::Math3D::Float4x4::identity;
translate = Oyster::Math3D::TranslationMatrix(Oyster::Math::Float3(-5,15,0));
modelData.world = modelData.world * translate;
modelData.modelPath = L"..\\Content\\Models\\box.dan";
modelData.id = 1;
obj = new C_Player();
privData->object.push_back(obj);
privData->object[privData->object.size() -1 ]->Init(modelData);
modelData.world = Oyster::Math3D::Float4x4::identity;
// add player model
modelData.world = Oyster::Math3D::Float4x4::identity;
translate = Oyster::Math3D::TranslationMatrix(Oyster::Math::Float3(0, 15, 0));
modelData.world = modelData.world * translate;
modelData.visible = true;
modelData.modelPath = L"..\\Content\\Models\\char_white.dan";
modelData.id = 2;
// load models
obj = new C_Player();
privData->object.push_back(obj);
privData->object[privData->object.size() -1 ]->Init(modelData);
return true;
}
@ -195,8 +200,6 @@ bool GameState::Release()
privData->object[i] = NULL;
}
delete this->camera;
delete privData;
privData = NULL;
return true;
@ -330,10 +333,10 @@ void GameState::Protocol( ObjPos* pos )
//camera->setRight((Oyster::Math::Float3(world[0], world[1], world[2])));
//camera->setUp((Oyster::Math::Float3(world[4], world[5], world[6])));
//camera->setLook((Oyster::Math::Float3(world[8], world[9], world[10])));
if(i == 0)
if(i == 2) // playerobj
{
camera->SetPosition(Oyster::Math::Float3(world[12], world[13], world[14]));
camera->UpdateViewMatrix();
//camera->SetPosition(Oyster::Math::Float3(world[12], world[13], world[14]));
//camera->UpdateViewMatrix();
}
}
}

2
Code/Game/DanBiasLauncher/Launcher.cpp
View File

@ -18,7 +18,7 @@ int WINAPI WinMain( HINSTANCE hinst, HINSTANCE prevInst, PSTR cmdLine, int cmdSh
DanBias::DanBiasGameDesc gameDesc;
gameDesc.port = 15151;
//gameDesc.port = 15152;
//gameDesc.IP = "193.11.184.196";
//gameDesc.IP = "193.11.184.109";
//gameDesc.IP = "193.11.184.31";
//gameDesc.IP = "194.47.150.56";
gameDesc.IP = "127.0.0.1";

13
Code/Game/DanBiasServerLauncher/ServerLauncher.cpp
View File

@ -19,12 +19,17 @@ int WINAPI WinMain( HINSTANCE hinst, HINSTANCE prevInst, PSTR cmdLine, int cmdSh
WindowShell::CreateConsoleWindow();
DanBias::GameServerAPI::GameInitDesc desc;
DanBias::GameServerAPI::ServerInitDesc desc;
desc.listenPort = 15151;
if(DanBias::GameServerAPI::Create(desc) == DanBias::DanBiasServerReturn_Sucess)
if(DanBias::GameServerAPI::ServerInitiate(desc) == DanBias::DanBiasServerReturn_Sucess)
{
DanBias::GameServerAPI::Start();
DanBias::GameServerAPI::Terminate();
DanBias::GameServerAPI::ServerStart();
while (!(GetAsyncKeyState(0x51))) //Q for exit
{
DanBias::GameServerAPI::ServerUpdate();
Sleep(1);
}
DanBias::GameServerAPI::ServerStop();
}
return cmdShow;
}

45
Code/Game/GameLogic/AttatchmentMassDriver.cpp
View File

@ -3,52 +3,38 @@
using namespace GameLogic;
struct AttatchmentMassDriver::PrivateData
{
PrivateData()
{
}
~PrivateData()
{
}
}myData;
AttatchmentMassDriver::AttatchmentMassDriver(void)
{
myData = new PrivateData();
this->owner = 0;
}
AttatchmentMassDriver::AttatchmentMassDriver(Player &owner)
{
myData = new PrivateData();
this->owner = &owner;
}
AttatchmentMassDriver::~AttatchmentMassDriver(void)
{
delete myData;
}
/********************************************************
* Uses the attatchment and will from here switch case the different WEAPON_FIRE's that are to be used
********************************************************/
void AttatchmentMassDriver::UseAttatchment(const GameLogic::WEAPON_FIRE &usage)
void AttatchmentMassDriver::UseAttatchment(const GameLogic::WEAPON_FIRE &usage, float dt)
{
//switch case to determin what functionallity to use in the attatchment
switch (usage)
{
case WEAPON_FIRE::WEAPON_USE_PRIMARY_PRESS:
ForcePush(usage);
ForcePush(usage,dt);
break;
case WEAPON_FIRE::WEAPON_USE_SECONDARY_PRESS:
ForcePull(usage);
ForcePull(usage,dt);
break;
}
@ -57,17 +43,30 @@ void AttatchmentMassDriver::UseAttatchment(const GameLogic::WEAPON_FIRE &usage)
/********************************************************
* Pushes objects in a cone in front of the weapon when fired
********************************************************/
void AttatchmentMassDriver::ForcePush(const GameLogic::WEAPON_FIRE &usage)
void AttatchmentMassDriver::ForcePush(const GameLogic::WEAPON_FIRE &usage, float dt)
{
//create coneRigidBody that will then collide with object and push them in the aimed direction
//Oyster::Math::Float4 pushForce = Oyster::Math::Float4(this->owner->GetLookDir()) * (500 * dt);
Oyster::Math::Float3 weaponPos;
weaponPos = owner->GetPosition() + 5 * owner->GetLookDir();
Oyster::Math::Float4x4 aim = Oyster::Math3D::ViewMatrix_LookAtDirection(owner->GetLookDir(), owner->GetRigidBody()->GetGravityNormal(), weaponPos);
Oyster::Math::Float4x4 hitSpace = Oyster::Math3D::ProjectionMatrix_Perspective(Oyster::Math::pi/4,1,1,20);
Oyster::Collision3D::Frustrum hitFrustum = Oyster::Collision3D::Frustrum(Oyster::Math3D::ViewProjectionMatrix(aim,hitSpace));
Oyster::Physics::API::Instance().ApplyEffect(hitFrustum,NULL, ForcePushAction);
}
/********************************************************
* Pulls the player in the direction he is looking, used for fast movement(kinda like a jetpack)
********************************************************/
void AttatchmentMassDriver::ForcePull(const WEAPON_FIRE &usage)
void AttatchmentMassDriver::ForcePull(const WEAPON_FIRE &usage, float dt)
{
//Oyster::Physics::API::Instance().ApplyForceAt(owner->GetRigidBody(), owner->GetRigidBody()->GetCenter(), owner->GetLookDir() * 100);
Oyster::Physics::Struct::CustomBodyState state = this->owner->GetRigidBody()->GetState();
//do something with state
state.ApplyLinearImpulse(Oyster::Math::Float3(this->owner->GetLookDir()) * (500 * dt));
this->owner->GetRigidBody()->SetState(state);
}

13
Code/Game/GameLogic/AttatchmentMassDriver.h
View File

@ -15,30 +15,31 @@ namespace GameLogic
~AttatchmentMassDriver(void);
void UseAttatchment(const WEAPON_FIRE &usage);
void UseAttatchment(const WEAPON_FIRE &usage, float dt);
private:
/********************************************************
* Pushes objects and players in a cone in front of the player
* @param fireInput: allows switching on different functionality in this specific function
********************************************************/
void ForcePush(const WEAPON_FIRE &usage);
void ForcePush(const WEAPON_FIRE &usage, float dt);
/********************************************************
* Pulls the player forward, this is a movement tool
* @param fireInput: allows switching on different functionality in this specific function
********************************************************/
void ForcePull(const WEAPON_FIRE &usage);
void ForcePull(const WEAPON_FIRE &usage, float dt);
/********************************************************
* Sucks objects towards the player, the player can then pick up an object and throw it as a projectile
* @param fireInput: allows switching on different functionality in this specific function
********************************************************/
void ForceSuck(const WEAPON_FIRE &usage);
void ForceSuck(const WEAPON_FIRE &usage, float dt);
static void ForcePushAction(Oyster::Physics::ICustomBody *obj, void* args);
private:
struct PrivateData;
PrivateData *myData;
};
}
#endif

23
Code/Game/GameLogic/AttatchmentSocket.cpp
View File

@ -5,25 +5,10 @@
using namespace GameLogic;
using namespace Utility::DynamicMemory;
struct AttatchmentSocket::PrivateData
{
PrivateData()
{
}
~PrivateData()
{
}
SmartPointer<IAttatchment> attatchment;
}myData;
AttatchmentSocket::AttatchmentSocket(void)
{
this->attatchment = 0;
}
@ -34,17 +19,17 @@ AttatchmentSocket::~AttatchmentSocket(void)
IAttatchment* AttatchmentSocket::GetAttatchment()
{
return myData->attatchment;
return this->attatchment;
}
void AttatchmentSocket::SetAttatchment(IAttatchment *attatchment)
{
myData->attatchment = attatchment;
this->attatchment = attatchment;
}
void AttatchmentSocket::RemoveAttatchment()
{
myData->attatchment = 0;
this->attatchment = 0;
}

3
Code/Game/GameLogic/AttatchmentSocket.h
View File

@ -19,8 +19,7 @@ namespace GameLogic
void RemoveAttatchment();
private:
struct PrivateData;
PrivateData *myData;
IAttatchment *attatchment;
};
}
#endif

95
Code/Game/GameLogic/CollisionManager.cpp
View File

@ -1,62 +1,89 @@
#include "CollisionManager.h"
#include "PhysicsAPI.h"
#include "Object.h"
#include "DynamicObject.h"
#include "Player.h"
#include "Level.h"
#include "AttatchmentMassDriver.h"
#include "Game.h"
using namespace Oyster;
using namespace GameLogic;
void PlayerVBox(Player &player, DynamicObject &box);
void PlayerVBox(Player &player, DynamicObject &box, Oyster::Math::Float kineticEnergyLoss);
void PlayerVObject(Player &player, Object &obj, Oyster::Math::Float kineticEnergyLoss);
Physics::ICustomBody::SubscriptMessage CollisionManager::PlayerCollision(const Oyster::Physics::ICustomBody *rigidBodyPlayer, const Oyster::Physics::ICustomBody *obj)
//Physics::ICustomBody::SubscriptMessage
void Player::PlayerCollision(Oyster::Physics::ICustomBody *rigidBodyPlayer, Oyster::Physics::ICustomBody *obj, Oyster::Math::Float kineticEnergyLoss)
{
//Player *player = ((Player*)(rigidBodyPlayer->gameObjectRef));
//Object *realObj = (Object*)obj->gameObjectRef;
//switch (realObj->GetType())
//{
//case OBJECT_TYPE::OBJECT_TYPE_BOX:
// PlayerVBox(*player,(*(DynamicObject*) realObj));
// break;
//case OBJECT_TYPE::OBJECT_TYPE_PLAYER:
//
// break;
//}
Player *player = ((Game::PlayerData*)(rigidBodyPlayer->GetCustomTag()))->player;
Object *realObj = (Object*)obj->GetCustomTag(); //needs to be changed?
return Physics::ICustomBody::SubscriptMessage_none;
switch (realObj->GetType())
{
case OBJECT_TYPE::OBJECT_TYPE_GENERIC:
PlayerVObject(*player,*realObj, kineticEnergyLoss);
//return Physics::ICustomBody::SubscriptMessage_none;
break;
case OBJECT_TYPE::OBJECT_TYPE_BOX:
PlayerVBox(*player,(*(DynamicObject*) realObj), kineticEnergyLoss);
//return Physics::ICustomBody::SubscriptMessage_none;
break;
case OBJECT_TYPE::OBJECT_TYPE_PLAYER:
//return Physics::ICustomBody::SubscriptMessage_none;
break;
case OBJECT_TYPE::OBJECT_TYPE_WORLD:
int test = 5;
break;
}
//return Physics::ICustomBody::SubscriptMessage_none;
}
void PlayerVBox(Player &player, DynamicObject &box)
void PlayerVBox(Player &player, DynamicObject &box, Oyster::Math::Float kineticEnergyLoss)
{
//use kinetic energyloss of the collision in order too determin how much damage to take
//use as part of the damage algorithm
player.DamageLife(20);
}
Physics::ICustomBody::SubscriptMessage CollisionManager::BoxCollision(const Oyster::Physics::ICustomBody *rigidBodyBox, const Oyster::Physics::ICustomBody *obj)
void PlayerVObject(Player &player, Object &obj, Oyster::Math::Float kineticEnergyLoss)
{
if(rigidBodyBox == 0)
//Collision between a player and a general static or dynamic object
//use kinetic energyloss of the collision in order too determin how much damage to take
//use as part of the damage algorithm
int damageDone = 0;
int forceThreashHold = 200;
if(kineticEnergyLoss > forceThreashHold) //should only take damage if the force is high enough
{
return Physics::ICustomBody::SubscriptMessage::SubscriptMessage_none;
damageDone = kineticEnergyLoss * 0.10f;
player.DamageLife(damageDone);
}
//DynamicObject *box = (DynamicObject*)rigidBodyBox->gameObjectRef;
//Object *realObj = (Object*)obj->gameObjectRef;
//switch (realObj->GetType())
//{
//case OBJECT_TYPE::OBJECT_TYPE_BOX:
//
// break;
//case OBJECT_TYPE::OBJECT_TYPE_PLAYER:
// //PlayerVBox(*(Player*)realObj,*box);
// break;
//}
}
Oyster::Physics::ICustomBody::SubscriptMessage Object::DefaultCollisionBefore(Oyster::Physics::ICustomBody *rigidBodyLevel, Oyster::Physics::ICustomBody *obj)
{
return Physics::ICustomBody::SubscriptMessage_none;
}
Oyster::Physics::ICustomBody::SubscriptMessage CollisionManager::LevelCollision(const Oyster::Physics::ICustomBody *rigidBodyLevel, const Oyster::Physics::ICustomBody *obj)
//Oyster::Physics::ICustomBody::SubscriptMessage
Oyster::Physics::ICustomBody::SubscriptMessage Level::LevelCollisionBefore(Oyster::Physics::ICustomBody *rigidBodyLevel, Oyster::Physics::ICustomBody *obj)
{
return Physics::ICustomBody::SubscriptMessage_ignore_collision_response;
}
Oyster::Physics::ICustomBody::SubscriptMessage Level::LevelCollisionAfter(Oyster::Physics::ICustomBody *rigidBodyLevel, Oyster::Physics::ICustomBody *obj, Oyster::Math::Float kineticEnergyLoss)
{
return Physics::ICustomBody::SubscriptMessage_ignore_collision_response;
}
void AttatchmentMassDriver::ForcePushAction(Oyster::Physics::ICustomBody *obj, void* args)
{
Oyster::Math::Float3 pushForce = Oyster::Math::Float4(1,0,0) * (20);
Oyster::Physics::ICustomBody::State state;
state = obj->GetState();
state.ApplyLinearImpulse(pushForce);
obj->SetState(state);
//((Object*)obj->GetCustomTag())->ApplyLinearImpulse(pushForce);
}

9
Code/Game/GameLogic/CollisionManager.h
View File

@ -10,14 +10,7 @@ namespace GameLogic
class CollisionManager
{
public:
//these are the main collision functions
//typedef SubscriptMessage (*EventAction_Collision)( const ICustomBody *proto, const ICustomBody *deuter );
static Oyster::Physics::ICustomBody::SubscriptMessage PlayerCollision(const Oyster::Physics::ICustomBody *rigidBodyPlayer, const Oyster::Physics::ICustomBody *obj);
static Oyster::Physics::ICustomBody::SubscriptMessage BoxCollision(const Oyster::Physics::ICustomBody *rigidBodyBox, const Oyster::Physics::ICustomBody *obj);
static Oyster::Physics::ICustomBody::SubscriptMessage LevelCollision(const Oyster::Physics::ICustomBody *rigidBodyLevel, const Oyster::Physics::ICustomBody *obj);
//these are the specific collision case functions
//void PlayerVBox(Player &player, DynamicObject &box);
//void BoxVBox(DynamicObject &box1, DynamicObject &box2);
//put general collision functions here that are not part of a specific object
};

23
Code/Game/GameLogic/DynamicObject.cpp
View File

@ -9,13 +9,32 @@ DynamicObject::DynamicObject()
{
}
DynamicObject::DynamicObject(OBJECT_TYPE type)
:Object(type)
{
DynamicObject::DynamicObject(void* collisionFunc, OBJECT_TYPE type)
:Object(collisionFunc, type)
}
DynamicObject::DynamicObject(Oyster::Physics::ICustomBody *rigidBody, OBJECT_TYPE type)
:Object(rigidBody,type)
{
}
DynamicObject::DynamicObject(void* collisionFuncBefore, void* collisionFuncAfter, OBJECT_TYPE type)
:Object(collisionFuncBefore,collisionFuncAfter,type)
{
}
DynamicObject::DynamicObject(Oyster::Physics::ICustomBody *rigidBody ,void* collisionFuncBefore, void* collisionFuncAfter, OBJECT_TYPE type)
:Object(rigidBody, collisionFuncBefore, collisionFuncAfter, type)
{
}
DynamicObject::DynamicObject(Oyster::Physics::ICustomBody *rigidBody ,Oyster::Physics::ICustomBody::SubscriptMessage (*collisionFuncBefore)(Oyster::Physics::ICustomBody *proto,Oyster::Physics::ICustomBody *deuter), Oyster::Physics::ICustomBody::SubscriptMessage (*collisionFuncAfter)(Oyster::Physics::ICustomBody *proto,Oyster::Physics::ICustomBody *deuter,Oyster::Math::Float kineticEnergyLoss), OBJECT_TYPE type)
:Object(rigidBody, collisionFuncBefore, collisionFuncAfter, type)
{
}
DynamicObject::~DynamicObject(void)
{

7
Code/Game/GameLogic/DynamicObject.h
View File

@ -14,7 +14,12 @@ namespace GameLogic
public:
DynamicObject();
DynamicObject(void* collisionFunc, OBJECT_TYPE type);
DynamicObject(OBJECT_TYPE type);
DynamicObject(Oyster::Physics::ICustomBody *rigidBody, OBJECT_TYPE type);
DynamicObject(void* collisionFuncBefore, void* collisionFuncAfter, OBJECT_TYPE type);
DynamicObject(Oyster::Physics::ICustomBody *rigidBody ,void* collisionFuncBefore, void* collisionFuncAfter, OBJECT_TYPE type);
DynamicObject(Oyster::Physics::ICustomBody *rigidBody ,Oyster::Physics::ICustomBody::SubscriptMessage (*collisionFuncBefore)(Oyster::Physics::ICustomBody *proto,Oyster::Physics::ICustomBody *deuter), Oyster::Physics::ICustomBody::SubscriptMessage (*collisionFuncAfter)(Oyster::Physics::ICustomBody *proto,Oyster::Physics::ICustomBody *deuter,Oyster::Math::Float kineticEnergyLoss), OBJECT_TYPE type);
~DynamicObject(void);
private:

1
Code/Game/GameLogic/Game.cpp
View File

@ -104,6 +104,7 @@ bool Game::NewFrame()
{
if(this->players[i]->player) this->players[i]->player->EndFrame();
}
//gameInstance.onMoveFnc(this->level);
return true;
}

8
Code/Game/GameLogic/Game.h
View File

@ -32,15 +32,14 @@ namespace GameLogic
~PlayerData();
void Move(const PLAYER_MOVEMENT &movement) override;
void Rotate(const Oyster::Math3D::Float3 lookDir) override;
void UseWeapon(const WEAPON_FIRE &usage) override;
int GetTeamID() const override;
PLAYER_STATE GetState() const override;
Oyster::Math::Float3 GetPosition() override;
Oyster::Math::Float4x4 GetOrientation() override;
int GetID() const override;
OBJECT_TYPE GetObjectType() const override;
void Rotate(const Oyster::Math3D::Float3 lookDir) override;
OBJECT_TYPE GetType() const override;
Player *player;
};
@ -52,7 +51,8 @@ namespace GameLogic
Oyster::Math::Float3 GetPosition() override;
Oyster::Math::Float4x4 GetOrientation() override;
int GetID() const override;
OBJECT_TYPE GetObjectType() const override;
OBJECT_TYPE GetType() const override;
IObjectData* GetObjectAt( int ID ) const override;
Level *level;
};

4
Code/Game/GameLogic/GameAPI.h
View File

@ -13,7 +13,6 @@
#include "GameLogicStates.h"
#include <OysterMath.h>
namespace GameLogic
{
class IObjectData;
@ -62,7 +61,7 @@ namespace GameLogic
/** Get the type of the object
* @return The OBJECT_TYPE of the object is returned
*/
virtual OBJECT_TYPE GetObjectType() const = 0;
virtual OBJECT_TYPE GetType() const = 0;
};
class IPlayerData :public IObjectData
@ -100,6 +99,7 @@ namespace GameLogic
class ILevelData :public IObjectData
{
public:
virtual IObjectData* GetObjectAt( int ID) const = 0;
};

1
Code/Game/GameLogic/GameLogicStates.h
View File

@ -25,6 +25,7 @@ namespace GameLogic
OBJECT_TYPE_PLAYER = 0,
OBJECT_TYPE_BOX = 1,
OBJECT_TYPE_WORLD = 2,
OBJECT_TYPE_GENERIC = 4,
OBJECT_TYPE_UNKNOWN = -1,
};

15
Code/Game/GameLogic/Game_LevelData.cpp
View File

@ -25,13 +25,18 @@ Oyster::Math::Float4x4 Game::LevelData::GetOrientation()
//return this->level->GetOrientation();
return Oyster::Math::Float4x4();
}
int Game::LevelData::GetID() const
{
//this->level->GetID();
return -1;
return ((IObjectData*)this->level)->GetID();
}
OBJECT_TYPE Game::LevelData::GetObjectType() const
OBJECT_TYPE Game::LevelData::GetType() const
{
//return this->level->GetType();
return OBJECT_TYPE_UNKNOWN;
return ((IObjectData*)this->level)->GetType();
//return OBJECT_TYPE_UNKNOWN;
}
IObjectData* Game::LevelData::GetObjectAt(int ID) const
{
return this->level->GetObj(ID);
}

17
Code/Game/GameLogic/Game_PlayerData.cpp
View File

@ -5,8 +5,18 @@ using namespace GameLogic;
Game::PlayerData::PlayerData()
{
this->player = new Player();
//set some stats that are appropriate to a player
Oyster::Physics::API::SimpleBodyDescription sbDesc;
sbDesc.centerPosition = Oyster::Math::Float3(0,15,0);
sbDesc.size = Oyster::Math::Float3(4,7,4);
//create rigid body
Oyster::Physics::ICustomBody *rigidBody = Oyster::Physics::API::Instance().CreateRigidBody(sbDesc).Release();
//create player with this rigid body
this->player = new Player(rigidBody,Object::DefaultCollisionBefore, Player::PlayerCollision, OBJECT_TYPE::OBJECT_TYPE_PLAYER);
this->player->GetRigidBody()->SetCustomTag(this);
}
Game::PlayerData::PlayerData(int playerID,int teamID)
{
@ -45,11 +55,12 @@ int Game::PlayerData::GetTeamID() const
{
return this->player->GetTeamID();
}
OBJECT_TYPE Game::PlayerData::GetObjectType() const
OBJECT_TYPE Game::PlayerData::GetType() const
{
return this->player->GetType();
}
void Game::PlayerData::Rotate(const Oyster::Math3D::Float3 lookDir)
{
this->player->Rotate(lookDir);
}

2
Code/Game/GameLogic/IAttatchment.h
View File

@ -19,7 +19,7 @@ namespace GameLogic
IAttatchment(void);
~IAttatchment(void);
virtual void UseAttatchment(const WEAPON_FIRE &usage) = 0;
virtual void UseAttatchment(const WEAPON_FIRE &usage, float dt) = 0;
private:

49
Code/Game/GameLogic/Level.cpp
View File

@ -8,6 +8,7 @@ using namespace Oyster::Physics;
Level::Level(void)
{
}
Level::~Level(void)
{
@ -19,29 +20,48 @@ void Level::InitiateLevel(std::string levelPath)
}
void Level::InitiateLevel(float radius)
{
// add level sphere
API::SphericalBodyDescription sbDesc;
sbDesc.centerPosition = Oyster::Math::Float4(0,0,0,1);
sbDesc.ignoreGravity = true;
sbDesc.radius = 8; //radius;
sbDesc.radius = 8;
sbDesc.mass = 10e12f;
//sbDesc.mass = 0; //10^16
sbDesc.subscription_onCollision = CollisionManager::LevelCollision;
ICustomBody* rigidBody = API::Instance().CreateRigidBody(sbDesc).Release();
API::Instance().AddObject(rigidBody);
ICustomBody::State state;
rigidBody->GetState(state);
state.SetRestitutionCoeff(0.1);
state.SetRestitutionCoeff(0.01);
rigidBody->SetState(state);
API::Gravity gravityWell;
levelObj = new StaticObject(rigidBody, LevelCollisionBefore, LevelCollisionAfter, OBJECT_TYPE::OBJECT_TYPE_WORLD);
rigidBody->SetCustomTag(levelObj);
// add box
API::SimpleBodyDescription sbDesc_TestBox;
sbDesc_TestBox.centerPosition = Oyster::Math::Float4(-5,15,0,0);
sbDesc_TestBox.ignoreGravity = false;
sbDesc_TestBox.mass = 10;
sbDesc_TestBox.size = Oyster::Math::Float4(0.5f,0.5f,0.5f,0);
ICustomBody* rigidBody_TestBox = API::Instance().CreateRigidBody(sbDesc_TestBox).Release();
rigidBody_TestBox->SetSubscription(Level::PhysicsOnMoveLevel);
testBox = new DynamicObject(rigidBody_TestBox, OBJECT_TYPE::OBJECT_TYPE_BOX);
rigidBody_TestBox->SetCustomTag(testBox);
rigidBody_TestBox->GetState(state);
state.ApplyLinearImpulse(Oyster::Math::Float3(0,0,4));
rigidBody_TestBox->SetState(state);
// add gravitation
API::Gravity gravityWell;
gravityWell.gravityType = API::Gravity::GravityType_Well;
gravityWell.well.mass = 10e12f;
gravityWell.well.position = Oyster::Math::Float4(0,0,0,1);
API::Instance().AddGravity(gravityWell);
}
void Level::AddPlayerToTeam(Player *player, int teamID)
@ -59,4 +79,15 @@ void Level::RespawnPlayer(Player *player)
this->teamManager.RespawnPlayerRandom(player);
}
Object* Level::GetObj( int ID) const
{
if( ID == 0 )
return (Object*)levelObj;
else
return (Object*)testBox;
}
void Level::PhysicsOnMoveLevel(const ICustomBody *object)
{
// function call from physics update when object was moved
Object* temp = (Object*)object->GetCustomTag();
}

15
Code/Game/GameLogic/Level.h
View File

@ -51,12 +51,27 @@ namespace GameLogic
********************************************************/
void RespawnPlayer(Player *player);
/********************************************************
* Collision function for level, this is to be sent to physics through the subscribe function with the rigidbody
* Will be called when the physics detect a collision
* @param rigidBodyLevel: physics object of the level
* @param obj: physics object for the object that collided with the level
********************************************************/
static Oyster::Physics::ICustomBody::SubscriptMessage LevelCollisionBefore(Oyster::Physics::ICustomBody *rigidBodyLevel, Oyster::Physics::ICustomBody *obj);
static Oyster::Physics::ICustomBody::SubscriptMessage LevelCollisionAfter(Oyster::Physics::ICustomBody *rigidBodyLevel, Oyster::Physics::ICustomBody *obj, Oyster::Math::Float kineticEnergyLoss);
Object* GetObj( int ID ) const;
static void PhysicsOnMoveLevel(const Oyster::Physics::ICustomBody *object);
private:
TeamManager teamManager;
Utility::DynamicMemory::DynamicArray<Utility::DynamicMemory::SmartPointer<StaticObject>> staticObjects;
Utility::DynamicMemory::DynamicArray<Utility::DynamicMemory::SmartPointer<DynamicObject>> dynamicObjects;
GameMode gameMode;
Utility::DynamicMemory::SmartPointer<Oyster::Physics::ICustomBody> rigidBodyLevel;
StaticObject *levelObj;
DynamicObject *testBox;
};

98
Code/Game/GameLogic/Object.cpp
View File

@ -16,37 +16,83 @@ const Game *Object::gameInstance = (Game*)(&Game::Instance());
Object::Object()
{
API::SimpleBodyDescription sbDesc;
//sbDesc.centerPosition =
//poi
ICustomBody* rigidBody = API::Instance().CreateRigidBody(sbDesc).Release();
this->rigidBody = API::Instance().CreateRigidBody(sbDesc).Release();
Oyster::Physics::API::Instance().AddObject(rigidBody);
//rigidBody->gameObjectRef = this;
this->objectID = GID();
this->type = OBJECT_TYPE::OBJECT_TYPE_UNKNOWN;
this->objectID = GID();
this->getState = this->rigidBody->GetState();
this->setState = this->getState;
}
Object::Object(void* collisionFunc, OBJECT_TYPE type)
Object::Object(OBJECT_TYPE type)
{
API::SimpleBodyDescription sbDesc;
//poi
this->rigidBody = API::Instance().CreateRigidBody(sbDesc).Release();
Oyster::Physics::API::Instance().AddObject(rigidBody);
this->type = type;
this->objectID = GID();
this->getState = this->rigidBody->GetState();
this->setState = this->getState;
}
Object::Object(Oyster::Physics::ICustomBody *rigidBody, OBJECT_TYPE type)
{
Oyster::Physics::API::Instance().AddObject(rigidBody);
this->rigidBody = rigidBody;
this->type = type;
this->objectID = GID();
this->getState = this->rigidBody->GetState();
this->setState = this->getState;
}
Object::Object(void* collisionFuncBefore, void* collisionFuncAfter, OBJECT_TYPE type)
{
API::SimpleBodyDescription sbDesc;
this->rigidBody = API::Instance().CreateRigidBody(sbDesc).Release();
Oyster::Physics::API::Instance().AddObject(rigidBody);
rigidBody->SetSubscription((Oyster::Physics::ICustomBody::EventAction_Collision)(collisionFunc));
//rigidBody->gameObjectRef = this;
this->type = type;
this->objectID = GID();
this->getState = this->rigidBody->GetState();
this->setState = this->getState;
}
Object::Object(Oyster::Physics::ICustomBody *rigidBody ,void* collisionFuncBefore, void* collisionFuncAfter, OBJECT_TYPE type)
{
Oyster::Physics::API::Instance().AddObject(rigidBody);
this->rigidBody = rigidBody;
this->rigidBody->SetSubscription((Oyster::Physics::ICustomBody::EventAction_BeforeCollisionResponse)(collisionFuncBefore));
this->rigidBody->SetSubscription((Oyster::Physics::ICustomBody::EventAction_AfterCollisionResponse)(collisionFuncAfter));
this->type = type;
this->objectID = GID();
this->getState = this->rigidBody->GetState();
this->setState = this->getState;
}
Object::Object(Oyster::Physics::ICustomBody *rigidBody ,Oyster::Physics::ICustomBody::SubscriptMessage (*collisionFuncBefore)(Oyster::Physics::ICustomBody *proto,Oyster::Physics::ICustomBody *deuter), Oyster::Physics::ICustomBody::SubscriptMessage (*collisionFuncAfter)(Oyster::Physics::ICustomBody *proto,Oyster::Physics::ICustomBody *deuter,Oyster::Math::Float kineticEnergyLoss), OBJECT_TYPE type)
{
Oyster::Physics::API::Instance().AddObject(rigidBody);
this->rigidBody = rigidBody;
this->rigidBody->SetSubscription((Oyster::Physics::ICustomBody::EventAction_BeforeCollisionResponse)(collisionFuncBefore));
this->rigidBody->SetSubscription((Oyster::Physics::ICustomBody::EventAction_AfterCollisionResponse)(collisionFuncAfter));
this->type = type;
this->objectID = GID();
this->getState = this->rigidBody->GetState();
this->setState = this->getState;
}
void Object::ApplyLinearImpulse(Oyster::Math::Float3 force)
{
setState.ApplyLinearImpulse(force);
}
@ -72,10 +118,30 @@ Oyster::Physics::ICustomBody* Object::GetRigidBody()
void Object::BeginFrame()
{
this->rigidBody->SetState(this->setState);
}
// update physic
void Object::EndFrame()
{
this->rigidBody->GetState(this->getState);
Oyster::Math::Float4x4 rotMatrix = setState.GetOrientation(); //Oyster::Math3D::RotationMatrix(rot, axis);
//Oyster::Math3D::SnapAxisYToNormal_UsingNlerp(rotMatrix, -setState.GetGravityNormal());
//setState.SetOrientation(rotMatrix);
this->getState = this->rigidBody->GetState();
this->setState = this->getState;
}
Oyster::Math::Float3 Object::GetPosition()
{
Oyster::Physics::ICustomBody::State state;
state = this->rigidBody->GetState();
return state.GetCenterPosition();
}
Oyster::Math::Float4x4 Object::GetOrientation()
{
Oyster::Physics::ICustomBody::State state;
state = this->rigidBody->GetState();
return state.GetOrientation();
}

17
Code/Game/GameLogic/Object.h
View File

@ -7,26 +7,37 @@
#define OBJECT_H
#include "GameLogicStates.h"
#include "GameAPI.h"
#include <PhysicsAPI.h>
namespace GameLogic
{
class Game;
class Object
class Object :public IObjectData
{
public:
Object();
Object(void* collisionFunc, OBJECT_TYPE type);
Object(OBJECT_TYPE type);
Object(Oyster::Physics::ICustomBody *rigidBody, OBJECT_TYPE type);
Object(void* collisionFuncBefore, void* collisionFuncAfter, OBJECT_TYPE type);
Object(Oyster::Physics::ICustomBody *rigidBody ,void* collisionFuncBefore, void* collisionFuncAfter, OBJECT_TYPE type);
Object(Oyster::Physics::ICustomBody *rigidBody ,Oyster::Physics::ICustomBody::SubscriptMessage (*collisionFuncBefore)(Oyster::Physics::ICustomBody *proto,Oyster::Physics::ICustomBody *deuter), Oyster::Physics::ICustomBody::SubscriptMessage (*collisionFuncAfter)(Oyster::Physics::ICustomBody *proto,Oyster::Physics::ICustomBody *deuter,Oyster::Math::Float kineticEnergyLoss), OBJECT_TYPE type);
~Object(void);
// API overrides
OBJECT_TYPE GetType() const;
int GetID() const;
Oyster::Math::Float3 GetPosition();
Oyster::Math::Float4x4 GetOrientation();
Oyster::Physics::ICustomBody* GetRigidBody();
void ApplyLinearImpulse(Oyster::Math::Float3 force);
void BeginFrame();
void EndFrame();
static Oyster::Physics::ICustomBody::SubscriptMessage DefaultCollisionBefore(Oyster::Physics::ICustomBody *rigidBodyLevel, Oyster::Physics::ICustomBody *obj);
private:
OBJECT_TYPE type;
int objectID;

76
Code/Game/GameLogic/Player.cpp
View File

@ -8,27 +8,56 @@ using namespace GameLogic;
using namespace Oyster::Physics;
Player::Player()
:DynamicObject(CollisionManager::PlayerCollision, OBJECT_TYPE::OBJECT_TYPE_PLAYER)
:DynamicObject()
{
weapon = new Weapon();
life = 100;
teamID = -1;
playerState = PLAYER_STATE::PLAYER_STATE_IDLE;
}
Player::Player(OBJECT_TYPE type)
:DynamicObject(type)
{
InitPlayer();
}
Player::Player(Oyster::Physics::ICustomBody *rigidBody, OBJECT_TYPE type)
:DynamicObject(rigidBody,type)
{
InitPlayer();
}
Player::Player(void* collisionFuncBefore, void* collisionFuncAfter, OBJECT_TYPE type)
:DynamicObject(collisionFuncBefore,collisionFuncAfter,type)
{
InitPlayer();
}
Player::Player(Oyster::Physics::ICustomBody *rigidBody ,void* collisionFuncBefore, void* collisionFuncAfter, OBJECT_TYPE type)
:DynamicObject(rigidBody, collisionFuncBefore, collisionFuncAfter, type)
{
InitPlayer();
}
Player::Player(Oyster::Physics::ICustomBody *rigidBody ,Oyster::Physics::ICustomBody::SubscriptMessage (*collisionFuncBefore)(Oyster::Physics::ICustomBody *proto,Oyster::Physics::ICustomBody *deuter), Oyster::Physics::ICustomBody::SubscriptMessage (*collisionFuncAfter)(Oyster::Physics::ICustomBody *proto,Oyster::Physics::ICustomBody *deuter,Oyster::Math::Float kineticEnergyLoss), OBJECT_TYPE type)
:DynamicObject(rigidBody, collisionFuncBefore, collisionFuncAfter, type)
{
InitPlayer();
}
void Player::InitPlayer()
{
weapon = new Weapon(2,this);
this->life = 100;
this->teamID = -1;
this->playerState = PLAYER_STATE_IDLE;
lookDir = Oyster::Math::Float4(0,0,-1,0);
setState.SetCenterPosition(Oyster::Math::Float4(0,15,0,1));
setState.SetReach(Oyster::Math::Float4(2,3.5,2,0));
}
Player::~Player(void)
{
delete weapon;
weapon = NULL;
if(weapon)
{
delete weapon;
weapon = NULL;
}
}
void Player::Move(const PLAYER_MOVEMENT &movement)
{
switch(movement)
@ -66,7 +95,7 @@ void Player::MoveBackwards()
void Player::MoveRight()
{
//Do cross product with forward vector and negative gravity vector
Oyster::Math::Float4 r = Oyster::Math::Float4(1, 0, 0, 0 );
Oyster::Math::Float3 r = Oyster::Math::Float4(1, 0, 0);
//Oyster::Math::Float4 r = (-rigidBody->GetGravityNormal()).Cross((Oyster::Math::Float3)this->lookDir);
setState.ApplyLinearImpulse(r * 20 * this->gameInstance->GetFrameTime());
@ -74,14 +103,14 @@ void Player::MoveRight()
void Player::MoveLeft()
{
//Do cross product with forward vector and negative gravity vector
Oyster::Math::Float4 r = Oyster::Math::Float4(1, 0, 0, 0 );
Oyster::Math::Float3 r = Oyster::Math::Float4(1, 0, 0 );
//Oyster::Math::Float4 r1 = -(-rigidBody->GetGravityNormal()).Cross((Oyster::Math::Float3)this->lookDir); //Still get zero
setState.ApplyLinearImpulse(-r * 20 * this->gameInstance->GetFrameTime());
}
void Player::UseWeapon(const WEAPON_FIRE &usage)
{
this->weapon->Use(usage);
this->weapon->Use(usage,gameInstance->GetFrameTime());
}
void Player::Respawn(Oyster::Math::Float3 spawnPoint)
@ -92,9 +121,20 @@ void Player::Respawn(Oyster::Math::Float3 spawnPoint)
this->lookDir = Oyster::Math::Float4(1,0,0);
}
void Player::Rotate(float x, float y)
void Player::Rotate(const Oyster::Math3D::Float3 lookDir)
{
this->setState.AddRotation(Oyster::Math::Float4(x, y));
this->lookDir = lookDir;
Oyster::Math::Float4 up(0,1,0,0);//-setState.GetGravityNormal();
Oyster::Math::Float4 pos = setState.GetCenterPosition();
Oyster::Math::Float4x4 world = Oyster::Math3D::OrientationMatrix_LookAtDirection(lookDir, up.xyz, pos.xyz);
// cant set rotation
//setState.SetOrientation(world);
//this->lookDir = lookDir - up.xyz;
//this->lookDir = lookDir;
//this->setState.AddRotation(Oyster::Math::Float4(x, y));
//this->setState.SetRotation();
}
void Player::Jump()
@ -125,7 +165,7 @@ Oyster::Math::Float4x4 Player::GetOrientation() const
}
Oyster::Math::Float3 Player::GetLookDir() const
{
return this->lookDir.xyz;
return this->lookDir;
}
int Player::GetTeamID() const
{

23
Code/Game/GameLogic/Player.h
View File

@ -16,7 +16,13 @@ namespace GameLogic
{
public:
Player(void);
Player(OBJECT_TYPE type);
Player(Oyster::Physics::ICustomBody *rigidBody, OBJECT_TYPE type);
Player(void* collisionFuncBefore, void* collisionFuncAfter, OBJECT_TYPE type);
Player(Oyster::Physics::ICustomBody *rigidBody ,void* collisionFuncBefore, void* collisionFuncAfter, OBJECT_TYPE type);
Player(Oyster::Physics::ICustomBody *rigidBody ,Oyster::Physics::ICustomBody::SubscriptMessage (*collisionFuncBefore)(Oyster::Physics::ICustomBody *proto,Oyster::Physics::ICustomBody *deuter), Oyster::Physics::ICustomBody::SubscriptMessage (*collisionFuncAfter)(Oyster::Physics::ICustomBody *proto,Oyster::Physics::ICustomBody *deuter,Oyster::Math::Float kineticEnergyLoss), OBJECT_TYPE type);
~Player(void);
void InitPlayer();
/********************************************************
* Moves the player based on input
@ -41,7 +47,17 @@ namespace GameLogic
********************************************************/
void Respawn(Oyster::Math::Float3 spawnPoint);
void Rotate(float x, float y);
void Rotate(const Oyster::Math3D::Float3 lookDir);
/********************************************************
* Collision function for player, this is to be sent to physics through the subscribe function with the rigidbody
* Will be called when the physics detect a collision
* @param rigidBodyPlayer: physics object of the player
* @param obj: physics object for the object that collided with the player
********************************************************/
static void PlayerCollision(Oyster::Physics::ICustomBody *rigidBodyPlayer, Oyster::Physics::ICustomBody *obj, Oyster::Math::Float kineticEnergyLoss);
bool IsWalking();
bool IsJumping();
@ -63,7 +79,10 @@ namespace GameLogic
int teamID;
Weapon *weapon;
PLAYER_STATE playerState;
Oyster::Math::Float4 lookDir;
Oyster::Math::Float3 lookDir;
bool hasTakenDamage;
float invincibleCooldown;
};
}

23
Code/Game/GameLogic/StaticObject.cpp
View File

@ -9,13 +9,32 @@ StaticObject::StaticObject()
{
}
StaticObject::StaticObject(OBJECT_TYPE type)
:Object(type)
{
StaticObject::StaticObject(void* collisionFunc, OBJECT_TYPE type)
:Object(collisionFunc,type)
}
StaticObject::StaticObject(Oyster::Physics::ICustomBody *rigidBody, OBJECT_TYPE type)
:Object(rigidBody,type)
{
}
StaticObject::StaticObject(void* collisionFuncBefore, void* collisionFuncAfter, OBJECT_TYPE type)
:Object(collisionFuncBefore,collisionFuncAfter,type)
{
}
StaticObject::StaticObject(Oyster::Physics::ICustomBody *rigidBody ,void* collisionFuncBefore, void* collisionFuncAfter, OBJECT_TYPE type)
:Object(rigidBody, collisionFuncBefore, collisionFuncAfter, type)
{
}
StaticObject::StaticObject(Oyster::Physics::ICustomBody *rigidBody ,Oyster::Physics::ICustomBody::SubscriptMessage (*collisionFuncBefore)(Oyster::Physics::ICustomBody *proto,Oyster::Physics::ICustomBody *deuter), Oyster::Physics::ICustomBody::SubscriptMessage (*collisionFuncAfter)(Oyster::Physics::ICustomBody *proto,Oyster::Physics::ICustomBody *deuter,Oyster::Math::Float kineticEnergyLoss), OBJECT_TYPE type)
:Object(rigidBody, collisionFuncBefore, collisionFuncAfter, type)
{
}
StaticObject::~StaticObject(void)
{

7
Code/Game/GameLogic/StaticObject.h
View File

@ -16,7 +16,12 @@ namespace GameLogic
public:
StaticObject();
StaticObject(void* collisionFunc, OBJECT_TYPE type);
StaticObject(OBJECT_TYPE type);
StaticObject(Oyster::Physics::ICustomBody *rigidBody, OBJECT_TYPE type);
StaticObject(void* collisionFuncBefore, void* collisionFuncAfter, OBJECT_TYPE type);
StaticObject(Oyster::Physics::ICustomBody *rigidBody ,void* collisionFuncBefore, void* collisionFuncAfter, OBJECT_TYPE type);
StaticObject(Oyster::Physics::ICustomBody *rigidBody ,Oyster::Physics::ICustomBody::SubscriptMessage (*collisionFuncBefore)(Oyster::Physics::ICustomBody *proto,Oyster::Physics::ICustomBody *deuter), Oyster::Physics::ICustomBody::SubscriptMessage (*collisionFuncAfter)(Oyster::Physics::ICustomBody *proto,Oyster::Physics::ICustomBody *deuter,Oyster::Math::Float kineticEnergyLoss), OBJECT_TYPE type);
~StaticObject(void);
private:

84
Code/Game/GameLogic/Weapon.cpp
View File

@ -1,60 +1,52 @@
#include "Weapon.h"
#include "AttatchmentSocket.h"
#include "AttatchmentMassDriver.h"
#include "DynamicArray.h"
#include "Player.h"
using namespace GameLogic;
using namespace Utility::DynamicMemory;
struct Weapon::PrivateData
{
PrivateData()
{
weaponState = WEAPON_STATE_IDLE;
selectedAttatchment = 0;
currentNrOfAttatchments = 0;
selectedSocketID = 0;
attatchmentSockets = 0;
}
~PrivateData()
{
}
WEAPON_STATE weaponState;
DynamicArray<SmartPointer<AttatchmentSocket>> attatchmentSockets;
int currentNrOfAttatchments;
SmartPointer<IAttatchment> selectedAttatchment;
int selectedSocketID;
}myData;
Weapon::Weapon()
{
myData = new PrivateData();
weaponState = WEAPON_STATE_IDLE;
selectedAttatchment = 0;
currentNrOfAttatchments = 0;
selectedSocketID = 0;
attatchmentSockets = 0;
}
Weapon::Weapon(int MaxNrOfSockets)
Weapon::Weapon(int MaxNrOfSockets,Player *owner)
{
myData = new PrivateData();
myData->attatchmentSockets.Resize(MaxNrOfSockets);
attatchmentSockets.Resize(MaxNrOfSockets);
attatchmentSockets[0] = new AttatchmentSocket();
weaponState = WEAPON_STATE_IDLE;
currentNrOfAttatchments = 0;
selectedAttatchment = 0;
//give the weapon a massdriver on socket 0
IAttatchment *mD = new AttatchmentMassDriver(*owner);
attatchmentSockets[0]->SetAttatchment(mD);
this->currentNrOfAttatchments = 1;
SelectAttatchment(0);
//give the weapon a massdriver on socket 0
}
Weapon::~Weapon(void)
{
delete myData;
}
/********************************************************
* Uses the weapon based on the input given and the current chosen attatchment
********************************************************/
void Weapon::Use(const WEAPON_FIRE &usage)
void Weapon::Use(const WEAPON_FIRE &usage, float dt)
{
if (myData->selectedAttatchment)
if (selectedAttatchment)
{
myData->selectedAttatchment->UseAttatchment(usage);
selectedAttatchment->UseAttatchment(usage, dt);
}
}
@ -68,24 +60,24 @@ void Weapon::Use(const WEAPON_FIRE &usage)
********************************************************/
bool Weapon::IsFireing()
{
return (myData->weaponState == WEAPON_STATE::WEAPON_STATE_FIRING);
return (weaponState == WEAPON_STATE::WEAPON_STATE_FIRING);
}
bool Weapon::IsIdle()
{
return (myData->weaponState == WEAPON_STATE::WEAPON_STATE_IDLE);
return (weaponState == WEAPON_STATE::WEAPON_STATE_IDLE);
}
bool Weapon::IsReloading()
{
return (myData->weaponState == WEAPON_STATE::WEAPON_STATE_RELOADING);
return (weaponState == WEAPON_STATE::WEAPON_STATE_RELOADING);
}
bool Weapon::IsValidSocket(int socketID)
{
if(socketID < (int)myData->attatchmentSockets.Size() && socketID >= 0)
if(socketID < (int)attatchmentSockets.Size() && socketID >= 0)
{
if (myData->attatchmentSockets[socketID]->GetAttatchment() != 0)
if (attatchmentSockets[socketID]->GetAttatchment() != 0)
{
return true;
}
@ -96,16 +88,16 @@ bool Weapon::IsValidSocket(int socketID)
int Weapon::GetCurrentSocketID()
{
return myData->selectedSocketID;
return selectedSocketID;
}
void Weapon::AddNewAttatchment(IAttatchment *attatchment, Player *owner)
{
if(myData->currentNrOfAttatchments < (int)myData->attatchmentSockets.Size())
if(currentNrOfAttatchments < (int)attatchmentSockets.Size())
{
myData->attatchmentSockets[myData->currentNrOfAttatchments]->SetAttatchment(attatchment);
myData->currentNrOfAttatchments++;
attatchmentSockets[currentNrOfAttatchments]->SetAttatchment(attatchment);
currentNrOfAttatchments++;
}
}
@ -113,7 +105,7 @@ void Weapon::SwitchAttatchment(IAttatchment *attatchment, int socketID, Player *
{
if (IsValidSocket(socketID))
{
myData->attatchmentSockets[socketID]->SetAttatchment(attatchment);
attatchmentSockets[socketID]->SetAttatchment(attatchment);
}
}
@ -121,7 +113,7 @@ void Weapon::RemoveAttatchment(int socketID)
{
if (IsValidSocket(socketID))
{
myData->attatchmentSockets[socketID]->RemoveAttatchment();
attatchmentSockets[socketID]->RemoveAttatchment();
}
}
@ -129,8 +121,8 @@ void Weapon::SelectAttatchment(int socketID)
{
if (IsValidSocket(socketID))
{
myData->selectedAttatchment = myData->attatchmentSockets[socketID]->GetAttatchment();
myData->selectedSocketID = socketID;
selectedAttatchment = attatchmentSockets[socketID]->GetAttatchment();
selectedSocketID = socketID;
}
}

16
Code/Game/GameLogic/Weapon.h
View File

@ -6,21 +6,20 @@
#include "GameLogicStates.h"
#include "IAttatchment.h"
#include "Player.h"
#include "AttatchmentSocket.h"
#include "DynamicArray.h"
namespace GameLogic
{
class Weapon
{
public:
Weapon(void);
Weapon(int nrOfAttatchmentSockets);
Weapon(int nrOfAttatchmentSockets, Player *owner);
~Weapon(void);
void Use(const WEAPON_FIRE &fireInput);
void Use(const WEAPON_FIRE &usage, float dt);
void AddNewAttatchment(IAttatchment *attatchment, Player *owner);
void SwitchAttatchment(IAttatchment *attatchment, int socketID, Player *owner);
@ -36,8 +35,11 @@ namespace GameLogic
int GetCurrentSocketID();
private:
struct PrivateData;
PrivateData *myData;
WEAPON_STATE weaponState;
Utility::DynamicMemory::DynamicArray<AttatchmentSocket*> attatchmentSockets;
int currentNrOfAttatchments;
IAttatchment *selectedAttatchment;
int selectedSocketID;
};
}

3
Code/Game/GameProtocols/LobbyProtocols.h
View File

@ -14,6 +14,7 @@
namespace GameLogic
{
/*
struct Protocol_LobbyCreateGame :public Oyster::Network::CustomProtocolObject
{
char* mapName;
@ -42,7 +43,7 @@ namespace GameLogic
private:
Oyster::Network::CustomNetProtocol protocol;
};
*/
struct Protocol_LobbyStartGame :public Oyster::Network::CustomProtocolObject
{
short gameId;

2
Code/Game/GameProtocols/ProtocolIdentificationID.h
View File

@ -48,7 +48,7 @@
#define protocol_GameplayMIN 300
#define protocol_Gameplay_PlayerMovement 300
#define protocol_Gameplay_PlayerLookDir 301
#define protocol_Gameplay_PlayerChangeWeapon 302
#define protocol_Gameplay_PlayerChangeWeapon 302
#define protocol_Gameplay_PlayerShot 303
#define protocol_Gameplay_ObjectPickup 304
#define protocol_Gameplay_ObjectDamage 305

9
Code/Game/GameServer/GameLobby.h
View File

@ -20,14 +20,16 @@ namespace DanBias
void Release();
void Update();
operator bool();
void SetGameDesc(const GameSession::GameDescription& desc);
void GetGameDesc(GameSession::GameDescription& desc);
bool StartGameSession();
private:
void ParseProtocol(Oyster::Network::CustomNetProtocol& p, Oyster::Network::NetworkClient* c);
void GeneralStatus(GameLogic::Protocol_General_Status& p, Oyster::Network::NetworkClient* c); //id = protocol_General_Status:
void GeneralText(GameLogic::Protocol_General_Text& p, Oyster::Network::NetworkClient* c); //id = protocol_General_Text:
void LobbyCreateGame(GameLogic::Protocol_LobbyCreateGame& p, Oyster::Network::NetworkClient* c); //id = protocol_Lobby_Create:
//void LobbyCreateGame(GameLogic::Protocol_LobbyCreateGame& p, Oyster::Network::NetworkClient* c); //id = protocol_Lobby_Create:
void LobbyStartGame(GameLogic::Protocol_LobbyStartGame& p, Oyster::Network::NetworkClient* c); //id = protocol_Lobby_Start:
void LobbyJoin(GameLogic::Protocol_LobbyJoin& p, Oyster::Network::NetworkClient* c); //id = protocol_Lobby_Join:
void LobbyLogin(GameLogic::Protocol_LobbyLogin& p, Oyster::Network::NetworkClient* c); //id = protocol_Lobby_Login:
@ -42,7 +44,8 @@ namespace DanBias
private:
Utility::WinTimer timer;
float refreshFrequency;
GameSession* gameSession;
GameSession gameSession;
GameSession::GameDescription description;
};
}//End namespace DanBias
#endif // !DANBIASGAME_GAMELOBBY_H

34
Code/Game/GameServer/GameServerAPI.h
View File

@ -28,17 +28,39 @@ namespace DanBias
class DANBIAS_SERVER_DLL GameServerAPI
{
public:
struct GameInitDesc
struct ServerInitDesc
{
char* serverName;
int listenPort;
bool threaded;
ServerInitDesc()
: serverName("Game Server")
, listenPort(15151)
{};
};
struct GameServerInfo
{
unsigned int listenPort; // If set to 0, the default port 15151 will be used
const char *serverIp; // This cant be mofidfied..
};
public:
static DanBiasServerReturn Create(const GameInitDesc& desc);
static void Start();
static void Stop();
static void Terminate();
static DanBiasServerReturn ServerInitiate(const ServerInitDesc& desc);
static void ServerStart();
static void ServerStop();
static void ServerUpdate();
static GameServerInfo ServerGetInfo();
static void GameSetMapId(const int& val);
static void GameSetMaxClients(const int& val);
static void GameSetGameMode(const int& val);
static void GameSetGameTime(const int& val);
static int GameGetMapId();
static int GameGetMaxClients();
static int GameGetGameMode();
static int GameGetGameTime();
static const char* GameGetGameName();
static bool GameStart();
};//End class DanBiasServer
}//End Extern "C"

15
Code/Game/GameServer/GameSession.h
View File

@ -31,7 +31,11 @@ namespace DanBias
*/
struct GameDescription
{
std::wstring mapName;
int mapNumber;
int maxClients;
int gameMode;
int gameTime;
std::string gameName;
Oyster::Network::NetworkSession* owner;
Utility::DynamicMemory::DynamicArray<Oyster::Network::NetClient> clients;
};
@ -82,6 +86,9 @@ namespace DanBias
void General_Status ( GameLogic::Protocol_General_Status& p, DanBias::GameClient* c );
void General_Text ( GameLogic::Protocol_General_Text& p, DanBias::GameClient* c );
//Callback method recieving from gamelogic
static void ObjectMove(GameLogic::IObjectData* movedObject);
//Private member variables
private:
Utility::DynamicMemory::DynamicArray<Utility::DynamicMemory::SmartPointer<GameClient>> clients;
@ -92,10 +99,10 @@ namespace DanBias
bool isCreated;
bool isRunning;
Utility::WinTimer timer;
GameDescription description;
//Callback method recieving from gamelogic
static void ObjectMove(GameLogic::IObjectData* movedObject);
//TODO: Remove this uggly hax
static GameSession* gameSession;
};//End GameSession
}//End namespace DanBias

19
Code/Game/GameServer/Implementation/GameLobby.cpp
View File

@ -25,14 +25,27 @@ namespace DanBias
void GameLobby::Update()
{
if(GetAsyncKeyState(VK_DOWN))
if(GetAsyncKeyState(VK_DOWN)) //TODO: Dont forget to remove this...
this->Send(*GameLogic::Protocol_General_Status().GetProtocol());
this->ProcessClients();
}
GameLobby::operator bool()
void GameLobby::SetGameDesc(const GameSession::GameDescription& desc)
{
return true;
this->description = desc;
}
void GameLobby::GetGameDesc(GameSession::GameDescription& desc)
{
desc = this->description;
}
bool GameLobby::StartGameSession()
{
if(this->gameSession.Create(this->description))
{
this->gameSession.Run();
return true;
}
return false;
}
void GameLobby::ClientEventCallback(NetEvent<NetworkClient*, NetworkClient::ClientEventArgs> e)

12
Code/Game/GameServer/Implementation/GameLobby_ProtocolParser.cpp
View File

@ -13,8 +13,8 @@ void GameLobby::ParseProtocol(Oyster::Network::CustomNetProtocol& p, NetworkClie
break;
case protocol_General_Text: this->GeneralText (Protocol_General_Text (p), c);
break;
case protocol_Lobby_Create: this->LobbyCreateGame (Protocol_LobbyCreateGame (p), c);
break;
//case protocol_Lobby_Create: this->LobbyCreateGame (Protocol_LobbyCreateGame (p), c);
//break;
case protocol_Lobby_Start: this->LobbyStartGame (Protocol_LobbyStartGame (p), c);
break;
case protocol_Lobby_Join: this->LobbyJoin (Protocol_LobbyJoin (p), c);
@ -54,10 +54,10 @@ void GameLobby::GeneralText(GameLogic::Protocol_General_Text& p, Oyster::Network
{
printf(p.text.c_str());
}
void GameLobby::LobbyCreateGame(GameLogic::Protocol_LobbyCreateGame& p, Oyster::Network::NetworkClient* c)
{
}
//void GameLobby::LobbyCreateGame(GameLogic::Protocol_LobbyCreateGame& p, Oyster::Network::NetworkClient* c)
//{
//
//}
void GameLobby::LobbyStartGame(GameLogic::Protocol_LobbyStartGame& p, Oyster::Network::NetworkClient* c)
{

114
Code/Game/GameServer/Implementation/GameServer.cpp
View File

@ -16,7 +16,7 @@
#include <WindowShell.h>
#include <Utilities.h>
#include <WinTimer.h>
#include <Thread\OysterThread.h>
#include <thread>
using namespace DanBias;
using namespace Oyster::Network;
@ -28,37 +28,37 @@ namespace
GameLobby lobby;
NetworkServer server;
WinTimer timer;
GameServerAPI instance;
//typedef void(*WorkerThreadFnc)(GameServerAPI*);
}
DanBiasServerReturn GameServerAPI::Create(const GameInitDesc& desc)
{
DanBiasServerReturn GameServerAPI::ServerInitiate(const ServerInitDesc& desc)
{
if(server.Init(desc.listenPort, &lobby) == NetworkServer::ServerReturnCode_Error)
{
return DanBiasServerReturn_Error;
}
GameSession::GameDescription d;
lobby.GetGameDesc(d);
d.gameName.assign(desc.serverName);
lobby.SetGameDesc(d);
std::printf("Server created!\t-\t%s: [%i]\n\n", server.GetLanAddress().c_str(), desc.listenPort);
return DanBiasServerReturn_Sucess;
}
void GameServerAPI::Start()
void GameServerAPI::ServerStart()
{
timer.reset();
server.Start();
timer.reset();
while (true)
{
server.ProcessConnectedClients();
lobby.Update();
}
void GameServerAPI::ServerStop()
{
lobby.Release();
server.Shutdown();
if(GetAsyncKeyState(0x51)) //Q for exit
break;
}
double total = timer.getElapsedSeconds();
int time = (int)total;
@ -72,23 +72,87 @@ void GameServerAPI::Start()
printf( "Server has been running for: %i:%i:%i - [hh:mm:ss] \n\n", hour, min, sec );
printf( "Terminating in : ");
for (int i = 0; i < 4; i++)
for (int i = 0; i < 3; i++)
{
printf( "%i ", 3-i );
Sleep(1000);
}
printf( "\nServer terminated!" );
}
void GameServerAPI::Stop()
void GameServerAPI::ServerUpdate()
{
server.Stop();
lobby.ProcessClients();
server.Update();
lobby.Update();
}
void GameServerAPI::Terminate()
GameServerAPI::GameServerInfo GameServerAPI::ServerGetInfo()
{
lobby.Release();
server.Shutdown();
printf( "Server terminated!" );
GameServerAPI::GameServerInfo i;
i.serverIp = server.GetLanAddress().c_str();
i.listenPort = server.GetPort();
return i;
}
void GameServerAPI::GameSetMapId(const int& val)
{
GameSession::GameDescription d;
lobby.GetGameDesc(d);
d.mapNumber = val;
lobby.SetGameDesc(d);
}
void GameServerAPI::GameSetMaxClients(const int& val)
{
GameSession::GameDescription d;
lobby.GetGameDesc(d);
d.maxClients = val;
lobby.SetGameDesc(d);
}
void GameServerAPI::GameSetGameMode(const int& val)
{
GameSession::GameDescription d;
lobby.GetGameDesc(d);
d.gameMode = val;
lobby.SetGameDesc(d);
}
void GameServerAPI::GameSetGameTime(const int& val)
{
GameSession::GameDescription d;
lobby.GetGameDesc(d);
d.gameTime = val;
lobby.SetGameDesc(d);
}
int GameServerAPI::GameGetMapId()
{
GameSession::GameDescription d;
lobby.GetGameDesc(d);
return d.mapNumber;
}
int GameServerAPI::GameGetMaxClients()
{
GameSession::GameDescription d;
lobby.GetGameDesc(d);
return d.maxClients;
}
int GameServerAPI::GameGetGameMode()
{
GameSession::GameDescription d;
lobby.GetGameDesc(d);
return d.gameMode;
}
int GameServerAPI::GameGetGameTime()
{
GameSession::GameDescription d;
lobby.GetGameDesc(d);
return d.gameTime;
}
const char* GameServerAPI::GameGetGameName()
{
GameSession::GameDescription d;
lobby.GetGameDesc(d);
return d.gameName.c_str();
}
bool GameServerAPI::GameStart()
{
return lobby.StartGameSession();
}

7
Code/Game/GameServer/Implementation/GameSession_General.cpp
View File

@ -19,12 +19,17 @@ using namespace GameLogic;
namespace DanBias
{
GameSession* GameSession::gameSession = nullptr;
GameSession::GameSession()
:gameInstance(GameAPI::Instance())
{
this->owner = 0;
this->isCreated = false;
this->isRunning = false;
this->gameSession = this;
memset(&this->description, 0, sizeof(GameDescription));
}
GameSession::~GameSession()
@ -39,10 +44,10 @@ namespace DanBias
bool GameSession::Create(GameDescription& desc)
{
this->description = desc;
/* Do some error checking */
if(desc.clients.Size() == 0) return false;
if(!desc.owner) return false;
if(!desc.mapName.size()) return false;
if(this->isCreated) return false;
/* standard initialization of some data */

14
Code/Game/aDanBiasGameLauncher/Launcher.cpp
View File

@ -11,13 +11,19 @@
void ServerFnc()
{
DanBias::GameServerAPI::GameInitDesc desc;
DanBias::GameServerAPI::ServerInitDesc desc;
desc.listenPort = 15151;
if( DanBias::GameServerAPI::Create(desc) == DanBias::DanBiasServerReturn_Sucess)
if(DanBias::GameServerAPI::ServerInitiate(desc) == DanBias::DanBiasServerReturn_Sucess)
{
DanBias::GameServerAPI::Start();
DanBias::GameServerAPI::Terminate();
DanBias::GameServerAPI::ServerStart();
while (!(GetAsyncKeyState(0x51))) //Q for exit
{
DanBias::GameServerAPI::ServerUpdate();
Sleep(1);
}
DanBias::GameServerAPI::ServerStop();
}
Sleep(100);
}
void ClientFnc()

8
Code/Game/aDanBiasGameLauncher/aDanBiasGameLauncher.vcxproj
View File

@ -111,7 +111,7 @@
<SubSystem>Windows</SubSystem>
<GenerateDebugInformation>true</GenerateDebugInformation>
<DelayLoadDLLs>DanBiasGame_$(PlatformShortName)D.dll;GameServer_$(PlatformShortName)D.dll;%(DelayLoadDLLs)</DelayLoadDLLs>
<AdditionalDependencies>DanBiasGame_$(PlatformShortName)D.lib;DanBiasServer_$(PlatformShortName)D.lib;%(AdditionalDependencies)</AdditionalDependencies>
<AdditionalDependencies>DanBiasGame_$(PlatformShortName)D.lib;GameServer_$(PlatformShortName)D.lib;%(AdditionalDependencies)</AdditionalDependencies>
</Link>
</ItemDefinitionGroup>
<ItemDefinitionGroup Condition="'$(Configuration)|$(Platform)'=='Debug|x64'">
@ -127,7 +127,7 @@
<SubSystem>Windows</SubSystem>
<GenerateDebugInformation>true</GenerateDebugInformation>
<DelayLoadDLLs>DanBiasGame_$(PlatformShortName)D.dll;GameServer_$(PlatformShortName)D.dll;%(DelayLoadDLLs)</DelayLoadDLLs>
<AdditionalDependencies>DanBiasGame_$(PlatformShortName)D.lib;%(AdditionalDependencies)</AdditionalDependencies>
<AdditionalDependencies>DanBiasGame_$(PlatformShortName)D.lib;GameServer_$(PlatformShortName)D.lib;%(AdditionalDependencies)</AdditionalDependencies>
</Link>
</ItemDefinitionGroup>
<ItemDefinitionGroup Condition="'$(Configuration)|$(Platform)'=='Release|Win32'">
@ -147,7 +147,7 @@
<EnableCOMDATFolding>true</EnableCOMDATFolding>
<OptimizeReferences>true</OptimizeReferences>
<DelayLoadDLLs>DanBiasGame_$(PlatformShortName).dll;GameServer_$(PlatformShortName).dll;%(DelayLoadDLLs)</DelayLoadDLLs>
<AdditionalDependencies>DanBiasGame_$(PlatformShortName).lib;%(AdditionalDependencies)</AdditionalDependencies>
<AdditionalDependencies>DanBiasGame_$(PlatformShortName).lib;GameServer_$(PlatformShortName).lib;%(AdditionalDependencies)</AdditionalDependencies>
</Link>
</ItemDefinitionGroup>
<ItemDefinitionGroup Condition="'$(Configuration)|$(Platform)'=='Release|x64'">
@ -167,7 +167,7 @@
<EnableCOMDATFolding>true</EnableCOMDATFolding>
<OptimizeReferences>true</OptimizeReferences>
<DelayLoadDLLs>DanBiasGame_$(PlatformShortName).dll;GameServer_$(PlatformShortName).dll;%(DelayLoadDLLs)</DelayLoadDLLs>
<AdditionalDependencies>DanBiasGame_$(PlatformShortName).lib;%(AdditionalDependencies)</AdditionalDependencies>
<AdditionalDependencies>DanBiasGame_$(PlatformShortName).lib;GameServer_$(PlatformShortName).lib;%(AdditionalDependencies)</AdditionalDependencies>
</Link>
</ItemDefinitionGroup>
<ItemGroup>

8
Code/GamePhysics/Implementation/Octree.cpp
View File

@ -108,7 +108,7 @@ std::vector<ICustomBody*>& Octree::Sample(const Oyster::Collision3D::ICollideabl
return updateList;
}
void Octree::Visit(ICustomBody* customBodyRef, VistorAction hitAction )
void Octree::Visit(ICustomBody* customBodyRef, VisitorAction hitAction )
{
auto object = this->mapReferences.find(customBodyRef);
@ -128,13 +128,13 @@ void Octree::Visit(ICustomBody* customBodyRef, VistorAction hitAction )
}
}
void Octree::Visit(const Oyster::Collision3D::ICollideable& collideable, VistorAction hitAction)
void Octree::Visit(const Oyster::Collision3D::ICollideable& collideable, void* args, VisitorActionCollideable hitAction)
{
for(unsigned int i = 0; i<this->leafData.size(); i++)
{
if(this->leafData[i].container.Intersects(collideable))
if(collideable.Intersects(this->leafData[i].container))
{
//hitAction(*this, tempRef, i); // @todo TODO: Add typedef to handle function calls with ICollideable
hitAction( this->GetCustomBody(i), args );
}
}
}

7
Code/GamePhysics/Implementation/Octree.h
View File

@ -17,7 +17,8 @@ namespace Oyster
public:
static const unsigned int invalid_ref;
typedef void(*VistorAction)(Octree&, unsigned int, unsigned int);
typedef void(*VisitorAction)(Octree&, unsigned int, unsigned int);
typedef void(*VisitorActionCollideable)(ICustomBody*, void*);
struct Data
{
@ -51,8 +52,8 @@ namespace Oyster
std::vector<ICustomBody*>& Sample(ICustomBody* customBodyRef, std::vector<ICustomBody*>& updateList);
std::vector<ICustomBody*>& Sample(const Oyster::Collision3D::ICollideable& collideable, std::vector<ICustomBody*>& updateList);
void Visit(ICustomBody* customBodyRef, VistorAction hitAction );
void Visit(const Oyster::Collision3D::ICollideable& collideable, VistorAction hitAction );
void Visit(ICustomBody* customBodyRef, VisitorAction hitAction );
void Visit(const Oyster::Collision3D::ICollideable& collideable, void* args, VisitorActionCollideable hitAction );
ICustomBody* GetCustomBody(const unsigned int tempRef);

174
Code/GamePhysics/Implementation/PhysicsAPI_Impl.cpp
View File

@ -22,84 +22,71 @@ namespace
Float4 worldPointOfContact;
if( proto->Intersects(*deuter, worldPointOfContact) )
{
switch( proto->CallSubscription_Collision(deuter) )
{
case ICustomBody::SubscriptMessage_ignore_collision_response:
break;
default:
{ // Apply CollisionResponse in pure gather pattern
ICustomBody::State protoState; proto->GetState( protoState );
ICustomBody::State deuterState; deuter->GetState( deuterState );
// Apply CollisionResponse in pure gather pattern
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 );
Float protoG_Magnitude = protoG.Dot( normal ),
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() );
if( deltaPos < 0.0f )
{
if( protoG_Magnitude >= deuterG_Magnitude )
{
break;
}
}
else if( deltaPos > 0.0f )
{
if( protoG_Magnitude <= deuterG_Magnitude )
{
break;
}
}
else
{
break;
}
// bounce
Float4 bounceD = normal * -Formula::CollisionResponse::Bounce( deuterState.GetRestitutionCoeff(),
deuterState.GetMass(), deuterG_Magnitude,
protoState.GetMass(), protoG_Magnitude );
//sumJ -= Formula::CollisionResponse::Friction( impulse, normal,
// protoState.GetLinearMomentum(), protoState.GetFrictionCoeff_Static(), protoState.GetFrictionCoeff_Kinetic(), protoState.GetMass(),
// deuterState.GetLinearMomentum(), deuterState.GetFrictionCoeff_Static(), deuterState.GetFrictionCoeff_Kinetic(), deuterState.GetMass());
// calc from perspective of proto
proto->GetNormalAt( worldPointOfContact, normal );
protoG_Magnitude = protoG.Dot( normal ),
// calc from perspective of deuter
Float4 normal; deuter->GetNormalAt( worldPointOfContact, normal );
Float protoG_Magnitude = protoG.Dot( normal ),
deuterG_Magnitude = deuterG.Dot( normal );
// bounce
Float4 bounceP = normal * Formula::CollisionResponse::Bounce( protoState.GetRestitutionCoeff(),
protoState.GetMass(), protoG_Magnitude,
deuterState.GetMass(), deuterG_Magnitude );
Float4 bounce = Average( bounceD, bounceP );
//Float4 bounce = bounceD + bounceP;
// FRICTION
// Apply
//sumJ += ( 1 / deuterState.GetMass() )*frictionImpulse;
// FRICTION END
// Float4 forwardedDeltaPos, forwardedDeltaAxis;
// { // @todo TODO: is this right?
// Float4 bounceAngularImpulse = ::Oyster::Math::Float4( (worldPointOfContact - protoState.GetCenterPosition()).xyz.Cross(bounce.xyz), 0.0f ),
// bounceLinearImpulse = bounce - bounceAngularImpulse;
// proto->Predict( forwardedDeltaPos, forwardedDeltaAxis, bounceLinearImpulse, bounceAngularImpulse, API_instance.GetFrameTimeLength() );
// }
// protoState.ApplyForwarding( forwardedDeltaPos, forwardedDeltaAxis );
protoState.ApplyImpulse( bounce, worldPointOfContact, normal );
proto->SetState( protoState );
// if they are not relatively moving towards eachother, there is no collision
Float deltaPos = normal.Dot( Float4(deuterState.GetCenterPosition(), 1) - Float4(protoState.GetCenterPosition(), 1) );
if( deltaPos < 0.0f )
{
if( protoG_Magnitude >= deuterG_Magnitude )
{
return;
}
break;
}
else if( deltaPos > 0.0f )
{
if( protoG_Magnitude <= deuterG_Magnitude )
{
return;
}
}
else
{
return;
}
if( proto->CallSubscription_BeforeCollisionResponse(proto) == ICustomBody::SubscriptMessage_ignore_collision_response )
{
return;
}
// bounce
Float4 bounceD = normal * -Formula::CollisionResponse::Bounce( deuterState.GetRestitutionCoeff(),
deuterState.GetMass(), deuterG_Magnitude,
protoState.GetMass(), protoG_Magnitude );
// calc from perspective of proto
proto->GetNormalAt( worldPointOfContact, normal );
protoG_Magnitude = protoG.Dot( normal ),
deuterG_Magnitude = deuterG.Dot( normal );
// bounce
Float4 bounceP = normal * Formula::CollisionResponse::Bounce( protoState.GetRestitutionCoeff(),
protoState.GetMass(), protoG_Magnitude,
deuterState.GetMass(), deuterG_Magnitude );
Float4 bounce = Average( bounceD, bounceP );
Float kineticEnergyPBefore = Oyster::Physics3D::Formula::LinearKineticEnergy( protoState.GetMass(), protoState.GetLinearMomentum()/protoState.GetMass() );
protoState.ApplyImpulse( bounce.xyz, worldPointOfContact.xyz, normal.xyz );
proto->SetState( protoState );
Float kineticEnergyPAFter = Oyster::Physics3D::Formula::LinearKineticEnergy( protoState.GetMass(), (protoState.GetLinearMomentum() + protoState.GetLinearImpulse())/protoState.GetMass() );
proto->CallSubscription_AfterCollisionResponse( deuter, kineticEnergyPBefore - kineticEnergyPAFter );
}
}
}
@ -112,6 +99,7 @@ API & API::Instance()
API_Impl::API_Impl()
{
this->gravityConstant = Constant::gravity_constant;
this->epsilon = Constant::epsilon;
this->updateFrameLength = 1.0f / 120.0f;
this->destructionAction = Default::EventAction_Destruction;
this->gravity = ::std::vector<Gravity>();
@ -138,6 +126,11 @@ void API_Impl::SetGravityConstant( float g )
this->gravityConstant = g;
}
void API_Impl::SetEpsilon( float e )
{
this->epsilon = e;
}
void API_Impl::SetSubscription( API::EventAction_Destruction functionPointer )
{
if( functionPointer )
@ -171,7 +164,7 @@ 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 )
{
@ -193,7 +186,7 @@ void API_Impl::Update()
if( gravityImpulse != Float4::null )
{
state.ApplyLinearImpulse( gravityImpulse );
state.ApplyLinearImpulse( gravityImpulse.xyz );
(*proto)->SetGravityNormal( gravityImpulse.GetNormalized().xyz );
(*proto)->SetState( state );
}
@ -205,12 +198,31 @@ void API_Impl::Update()
proto = updateList.begin();
for( ; proto != updateList.end(); ++proto )
{
Float3 lM = state.GetLinearMomentum() + state.GetLinearImpulse();
if( lM.x < this->epsilon )
{
state.SetLinearMomentum( Float3(0, lM.y, lM.z) );
state.SetLinearImpulse( Float3(0, lM.y, lM.z) );
}
if( lM.y < this->epsilon )
{
state.SetLinearMomentum( Float3(lM.x, 0, lM.z) );
state.SetLinearImpulse( Float3(lM.x, 0, lM.z) );
}
if( lM.z < this->epsilon )
{
state.SetLinearMomentum( Float3(lM.x, lM.y, 0) );
state.SetLinearImpulse( Float3(lM.x, lM.y, 0) );
}
switch( (*proto)->Update(this->updateFrameLength) )
{
case UpdateState_altered:
this->worldScene.SetAsAltered( this->worldScene.GetTemporaryReferenceOf(*proto) );
(*proto)->CallSubscription_Move();
case UpdateState_resting: default:
case UpdateState_resting:
default:
break;
}
}
@ -268,6 +280,11 @@ void API_Impl::RemoveGravity( const API::Gravity &g )
}
}
void API_Impl::ApplyEffect( const Oyster::Collision3D::ICollideable& collideable, void* args, void(hitAction)(ICustomBody*, void*) )
{
this->worldScene.Visit(collideable, args, hitAction);
}
//void API_Impl::ApplyForceAt( const ICustomBody* objRef, const Float3 &worldPos, const Float3 &worldF )
//{
// unsigned int tempRef = this->worldScene.GetTemporaryReferenceOf( objRef );
@ -371,11 +388,16 @@ namespace Oyster { namespace Physics
void EventAction_Destruction( ::Utility::DynamicMemory::UniquePointer<::Oyster::Physics::ICustomBody> proto )
{ /* Do nothing except allowing the proto uniquePointer destroy itself. */ }
::Oyster::Physics::ICustomBody::SubscriptMessage EventAction_Collision( const ::Oyster::Physics::ICustomBody *proto, const ::Oyster::Physics::ICustomBody *deuter )
::Oyster::Physics::ICustomBody::SubscriptMessage EventAction_BeforeCollisionResponse( const ::Oyster::Physics::ICustomBody *proto, const ::Oyster::Physics::ICustomBody *deuter )
{ /* Do nothing except returning business as usual. */
return ::Oyster::Physics::ICustomBody::SubscriptMessage_none;
}
void EventAction_AfterCollisionResponse( const ::Oyster::Physics::ICustomBody *proto, const ::Oyster::Physics::ICustomBody *deuter, ::Oyster::Math::Float kineticEnergyLoss )
{ /* Do nothing except returning business as usual. */
}
void EventAction_Move( const ::Oyster::Physics::ICustomBody *object )
{ /* Do nothing. */ }
}

8
Code/GamePhysics/Implementation/PhysicsAPI_Impl.h
View File

@ -18,6 +18,7 @@ namespace Oyster
void SetFrameTimeLength( float deltaTime );
void SetGravityConstant( float g );
void SetEpsilon( float e );
void SetSubscription( EventAction_Destruction functionPointer );
float GetFrameTimeLength() const;
@ -35,6 +36,8 @@ namespace Oyster
void AddGravity( const API::Gravity &g );
void RemoveGravity( const API::Gravity &g );
void ApplyEffect( const Oyster::Collision3D::ICollideable& collideable, void* args, void(hitAction)(ICustomBody*, void*) );
//void ApplyForceAt( const ICustomBody* objRef, const ::Oyster::Math::Float3 &worldPos, const ::Oyster::Math::Float3 &worldF );
//void SetMomentOfInertiaTensor_KeepVelocity( const ICustomBody* objRef, const ::Oyster::Math::Float4x4 &localI );
@ -50,7 +53,7 @@ namespace Oyster
::Utility::DynamicMemory::UniquePointer<ICustomBody> CreateRigidBody( const SphericalBodyDescription &desc ) const;
private:
::Oyster::Math::Float gravityConstant, updateFrameLength;
::Oyster::Math::Float gravityConstant, updateFrameLength, epsilon;
EventAction_Destruction destructionAction;
::std::vector<API::Gravity> gravity;
Octree worldScene;
@ -59,7 +62,8 @@ namespace Oyster
namespace Default
{
void EventAction_Destruction( ::Utility::DynamicMemory::UniquePointer<::Oyster::Physics::ICustomBody> proto );
::Oyster::Physics::ICustomBody::SubscriptMessage EventAction_Collision( const ::Oyster::Physics::ICustomBody *proto, const ::Oyster::Physics::ICustomBody *deuter );
::Oyster::Physics::ICustomBody::SubscriptMessage EventAction_BeforeCollisionResponse( const ::Oyster::Physics::ICustomBody *proto, const ::Oyster::Physics::ICustomBody *deuter );
void EventAction_AfterCollisionResponse( const ::Oyster::Physics::ICustomBody *proto, const ::Oyster::Physics::ICustomBody *deuter, ::Oyster::Math::Float kineticEnergyLoss );
void EventAction_Move( const ::Oyster::Physics::ICustomBody *object );
}
}

57
Code/GamePhysics/Implementation/SimpleRigidBody.cpp
View File

@ -46,7 +46,8 @@ SimpleRigidBody::SimpleRigidBody()
this->rigid = RigidBody();
this->rigid.SetMass_KeepMomentum( 16.0f );
this->gravityNormal = Float3::null;
this->onCollision = Default::EventAction_Collision;
this->onCollision = Default::EventAction_BeforeCollisionResponse;
this->onCollisionResponse = Default::EventAction_AfterCollisionResponse;
this->onMovement = Default::EventAction_Move;
this->scene = nullptr;
this->customTag = nullptr;
@ -55,7 +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 );
@ -71,7 +72,16 @@ SimpleRigidBody::SimpleRigidBody( const API::SimpleBodyDescription &desc )
}
else
{
this->onCollision = Default::EventAction_Collision;
this->onCollision = Default::EventAction_BeforeCollisionResponse;
}
if( desc.subscription_onCollisionResponse )
{
this->onCollisionResponse = desc.subscription_onCollisionResponse;
}
else
{
this->onCollisionResponse = Default::EventAction_AfterCollisionResponse;
}
if( desc.subscription_onMovement )
@ -101,7 +111,8 @@ SimpleRigidBody::State SimpleRigidBody::GetState() const
this->rigid.frictionCoeff_Static, this->rigid.frictionCoeff_Kinetic,
this->rigid.GetMomentOfInertia(), this->rigid.boundingReach,
this->rigid.centerPos, this->rigid.axis,
this->rigid.momentum_Linear, this->rigid.momentum_Angular );
this->rigid.momentum_Linear, this->rigid.momentum_Angular,
this->rigid.gravityNormal );
}
SimpleRigidBody::State & SimpleRigidBody::GetState( SimpleRigidBody::State &targetMem ) const
@ -110,7 +121,8 @@ SimpleRigidBody::State & SimpleRigidBody::GetState( SimpleRigidBody::State &targ
this->rigid.frictionCoeff_Static, this->rigid.frictionCoeff_Kinetic,
this->rigid.GetMomentOfInertia(), this->rigid.boundingReach,
this->rigid.centerPos, this->rigid.axis,
this->rigid.momentum_Linear, this->rigid.momentum_Angular );
this->rigid.momentum_Linear, this->rigid.momentum_Angular,
this->rigid.gravityNormal );
}
void SimpleRigidBody::SetState( const SimpleRigidBody::State &state )
@ -127,11 +139,12 @@ void SimpleRigidBody::SetState( const SimpleRigidBody::State &state )
this->rigid.frictionCoeff_Kinetic = state.GetFrictionCoeff_Kinetic();
this->rigid.SetMass_KeepMomentum( state.GetMass() );
this->rigid.SetMomentOfInertia_KeepMomentum( state.GetMomentOfInertia() );
this->rigid.gravityNormal = state.GetGravityNormal();
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;
}
@ -150,11 +163,16 @@ void SimpleRigidBody::SetState( const SimpleRigidBody::State &state )
}
}
ICustomBody::SubscriptMessage SimpleRigidBody::CallSubscription_Collision( const ICustomBody *deuter )
ICustomBody::SubscriptMessage SimpleRigidBody::CallSubscription_BeforeCollisionResponse( const ICustomBody *deuter )
{
return this->onCollision( this, deuter );
}
void SimpleRigidBody::CallSubscription_AfterCollisionResponse( const ICustomBody *deuter, Float kineticEnergyLoss )
{
return this->onCollisionResponse( this, deuter, kineticEnergyLoss );
}
void SimpleRigidBody::CallSubscription_Move()
{
this->onMovement( this );
@ -187,7 +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;
@ -277,7 +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;
@ -292,7 +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 )
@ -300,7 +318,7 @@ void SimpleRigidBody::SetScene( void *scene )
this->scene = (Octree*)scene;
}
void SimpleRigidBody::SetSubscription( ICustomBody::EventAction_Collision functionPointer )
void SimpleRigidBody::SetSubscription( ICustomBody::EventAction_BeforeCollisionResponse functionPointer )
{
if( functionPointer )
{
@ -308,7 +326,19 @@ void SimpleRigidBody::SetSubscription( ICustomBody::EventAction_Collision functi
}
else
{
this->onCollision = Default::EventAction_Collision;
this->onCollision = Default::EventAction_BeforeCollisionResponse;
}
}
void SimpleRigidBody::SetSubscription( ICustomBody::EventAction_AfterCollisionResponse functionPointer )
{
if( functionPointer )
{
this->onCollisionResponse = functionPointer;
}
else
{
this->onCollisionResponse = Default::EventAction_AfterCollisionResponse;
}
}
@ -333,6 +363,7 @@ void SimpleRigidBody::SetGravity( bool ignore)
void SimpleRigidBody::SetGravityNormal( const Float3 &normalizedVector )
{
this->gravityNormal = normalizedVector;
this->rigid.gravityNormal = Float4( this->gravityNormal, 0 );
}
void SimpleRigidBody::SetCustomTag( void *ref )

9
Code/GamePhysics/Implementation/SimpleRigidBody.h
View File

@ -21,7 +21,8 @@ namespace Oyster { namespace Physics
void SetState( const State &state );
//::Oyster::Math::Float3 GetRigidLinearVelocity() const;
SubscriptMessage CallSubscription_Collision( const ICustomBody *deuter );
SubscriptMessage CallSubscription_BeforeCollisionResponse( const ICustomBody *deuter );
void CallSubscription_AfterCollisionResponse( const ICustomBody *deuter, ::Oyster::Math::Float kineticEnergyLoss );
void CallSubscription_Move();
bool IsAffectedByGravity() const;
@ -43,7 +44,8 @@ namespace Oyster { namespace Physics
void SetScene( void *scene );
void SetSubscription( EventAction_Collision functionPointer );
void SetSubscription( EventAction_BeforeCollisionResponse functionPointer );
void SetSubscription( EventAction_AfterCollisionResponse functionPointer );
void SetSubscription( EventAction_Move functionPointer );
void SetGravity( bool ignore);
@ -63,7 +65,8 @@ namespace Oyster { namespace Physics
::Oyster::Physics3D::RigidBody rigid;
::Oyster::Math::Float4 deltaPos, deltaAxis;
::Oyster::Math::Float3 gravityNormal;
EventAction_Collision onCollision;
EventAction_BeforeCollisionResponse onCollision;
EventAction_AfterCollisionResponse onCollisionResponse;
EventAction_Move onMovement;
Octree *scene;
void *customTag;

52
Code/GamePhysics/Implementation/SphericalRigidBody.cpp
View File

@ -13,7 +13,8 @@ SphericalRigidBody::SphericalRigidBody()
this->rigid = RigidBody();
this->rigid.SetMass_KeepMomentum( 10.0f );
this->gravityNormal = Float3::null;
this->onCollision = Default::EventAction_Collision;
this->onCollision = Default::EventAction_BeforeCollisionResponse;
this->onCollisionResponse = Default::EventAction_AfterCollisionResponse;
this->onMovement = Default::EventAction_Move;
this->scene = nullptr;
this->customTag = nullptr;
@ -23,11 +24,11 @@ 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 );
this->rigid.SetMomentOfInertia_KeepMomentum( Formula::MomentOfInertia::CreateSphereMatrix( desc.mass, desc.radius ) );
this->rigid.SetMomentOfInertia_KeepMomentum( MomentOfInertia::Sphere(desc.mass, desc.radius) );
this->deltaPos = Float4::null;
this->deltaAxis = Float4::null;
@ -39,7 +40,16 @@ SphericalRigidBody::SphericalRigidBody( const API::SphericalBodyDescription &des
}
else
{
this->onCollision = Default::EventAction_Collision;
this->onCollision = Default::EventAction_BeforeCollisionResponse;
}
if( desc.subscription_onCollisionResponse )
{
this->onCollisionResponse = desc.subscription_onCollisionResponse;
}
else
{
this->onCollisionResponse = Default::EventAction_AfterCollisionResponse;
}
if( desc.subscription_onMovement )
@ -98,8 +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;
}
@ -118,11 +128,17 @@ void SphericalRigidBody::SetState( const SphericalRigidBody::State &state )
}
}
ICustomBody::SubscriptMessage SphericalRigidBody::CallSubscription_Collision( const ICustomBody *deuter )
ICustomBody::SubscriptMessage SphericalRigidBody::CallSubscription_BeforeCollisionResponse( const ICustomBody *deuter )
{
return this->onCollision( this, deuter );
}
void SphericalRigidBody::CallSubscription_AfterCollisionResponse( const ICustomBody *deuter, Float kineticEnergyLoss )
{
this->onCollisionResponse( this, deuter, kineticEnergyLoss);
}
void SphericalRigidBody::CallSubscription_Move()
{
this->onMovement( this );
@ -155,7 +171,7 @@ Sphere & SphericalRigidBody::GetBoundingSphere( Sphere &targetMem ) const
Float4 & SphericalRigidBody::GetNormalAt( const Float4 &worldPos, Float4 &targetMem ) const
{
targetMem = worldPos - this->rigid.centerPos;
targetMem = Float4( worldPos.xyz - this->rigid.centerPos, 0);
Float magnitude = targetMem.GetMagnitude();
if( magnitude != 0.0f )
{ // sanity check
@ -204,7 +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;
@ -219,10 +235,10 @@ 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 )
void SphericalRigidBody::SetSubscription( ICustomBody::EventAction_BeforeCollisionResponse functionPointer )
{
if( functionPointer )
{
@ -230,7 +246,19 @@ void SphericalRigidBody::SetSubscription( ICustomBody::EventAction_Collision fun
}
else
{
this->onCollision = Default::EventAction_Collision;
this->onCollision = Default::EventAction_BeforeCollisionResponse;
}
}
void SphericalRigidBody::SetSubscription( ICustomBody::EventAction_AfterCollisionResponse functionPointer )
{
if( functionPointer )
{
this->onCollisionResponse = functionPointer;
}
else
{
this->onCollisionResponse = Default::EventAction_AfterCollisionResponse;
}
}

9
Code/GamePhysics/Implementation/SphericalRigidBody.h
View File

@ -22,7 +22,8 @@ namespace Oyster { namespace Physics
void SetState( const State &state );
//::Oyster::Math::Float3 GetRigidLinearVelocity() const;
SubscriptMessage CallSubscription_Collision( const ICustomBody *deuter );
SubscriptMessage CallSubscription_BeforeCollisionResponse( const ICustomBody *deuter );
void CallSubscription_AfterCollisionResponse( const ICustomBody *deuter, ::Oyster::Math::Float kineticEnergyLoss );
void CallSubscription_Move();
bool IsAffectedByGravity() const;
@ -44,7 +45,8 @@ namespace Oyster { namespace Physics
void SetScene( void *scene );
void SetSubscription( EventAction_Collision functionPointer );
void SetSubscription( EventAction_BeforeCollisionResponse functionPointer );
void SetSubscription( EventAction_AfterCollisionResponse functionPointer );
void SetSubscription( EventAction_Move functionPointer );
void SetGravity( bool ignore);
@ -64,7 +66,8 @@ namespace Oyster { namespace Physics
::Oyster::Physics3D::RigidBody rigid;
::Oyster::Math::Float4 deltaPos, deltaAxis;
::Oyster::Math::Float3 gravityNormal;
EventAction_Collision onCollision;
EventAction_BeforeCollisionResponse onCollision;
EventAction_AfterCollisionResponse onCollisionResponse;
EventAction_Move onMovement;
Octree *scene;
void *customTag;

30
Code/GamePhysics/PhysicsAPI.h
View File

@ -34,6 +34,7 @@ namespace Oyster
namespace Constant
{
const float gravity_constant = (const float)6.67284e-11; //!< The _big_G_! ( N(m/kg)^2 ) Used in real gravityforcefields.
const float epsilon = (const float)1.0e-7;
}
class PHYSICS_DLL_USAGE API
@ -136,6 +137,15 @@ namespace Oyster
********************************************************/
virtual void RemoveGravity( const API::Gravity &g ) = 0;
/********************************************************
* Applies an effect to objects that collide with the set volume.
* @param collideable: An ICollideable that defines the volume of the effect.
* @param args: The arguments needed for the hitAction function.
* @param hitAction: A function that contains the effect. Parameterlist contains the custom body
the collideable hits, and the arguments sent to the function.
********************************************************/
virtual void ApplyEffect( const Oyster::Collision3D::ICollideable& collideable, void* args, void(hitAction)(ICustomBody*, void*) ) = 0;
///********************************************************
// * Apply force on an object.
// * @param objRef: A pointer to the ICustomBody representing a physical object.
@ -231,10 +241,12 @@ namespace Oyster
enum SubscriptMessage
{
SubscriptMessage_none,
SubscriptMessage_kineticLoss,
SubscriptMessage_ignore_collision_response
};
typedef SubscriptMessage (*EventAction_Collision)( const ICustomBody *proto, const ICustomBody *deuter );
typedef SubscriptMessage (*EventAction_BeforeCollisionResponse)( const ICustomBody *proto, const ICustomBody *deuter );
typedef void (*EventAction_AfterCollisionResponse)( const ICustomBody *proto, const ICustomBody *deuter, ::Oyster::Math::Float kineticEnergyLoss );
typedef void (*EventAction_Move)( const ICustomBody *object );
typedef Struct::SimpleBodyDescription SimpleBodyDescription;
typedef Struct::SphericalBodyDescription SphericalBodyDescription;
@ -251,7 +263,12 @@ namespace Oyster
/********************************************************
* @todo TODO: need doc
********************************************************/
virtual SubscriptMessage CallSubscription_Collision( const ICustomBody *deuter ) = 0;
virtual SubscriptMessage CallSubscription_BeforeCollisionResponse( const ICustomBody *deuter ) = 0;
/********************************************************
* @todo TODO: need doc
********************************************************/
virtual void CallSubscription_AfterCollisionResponse( const ICustomBody *deuter, ::Oyster::Math::Float kineticEnergyLoss ) = 0;
/********************************************************
* @todo TODO: need doc
@ -381,7 +398,14 @@ namespace Oyster
* whenever a collision occurs.
* @param functionPointer: If NULL, an empty default function will be set.
********************************************************/
virtual void SetSubscription( EventAction_Collision functionPointer ) = 0;
virtual void SetSubscription( EventAction_BeforeCollisionResponse functionPointer ) = 0;
/********************************************************
* Sets the function that will be called by the engine
* whenever a collision has finished.
* @param functionPointer: If NULL, an empty default function will be set.
********************************************************/
virtual void SetSubscription( EventAction_AfterCollisionResponse functionPointer ) = 0;
/********************************************************
* Sets the function that will be called by the engine

148
Code/GamePhysics/PhysicsStructs-Impl.h
View File

@ -13,11 +13,15 @@ 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->inertiaTensor = ::Oyster::Math::Float4x4::identity;
this->restitutionCoeff = 1.0f;
this->frictionCoeff_Dynamic = 0.5f;
this->frictionCoeff_Static = 0.5f;
this->inertiaTensor = ::Oyster::Physics3D::MomentOfInertia();
this->subscription_onCollision = NULL;
this->subscription_onCollisionResponse = NULL;
this->subscription_onMovement = NULL;
this->ignoreGravity = false;
}
@ -25,15 +29,19 @@ 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;
this->frictionCoeff_Dynamic = 0.5f;
this->frictionCoeff_Static = 0.5f;
this->subscription_onCollision = NULL;
this->subscription_onCollisionResponse = NULL;
this->subscription_onMovement = NULL;
this->ignoreGravity = false;
}
inline CustomBodyState::CustomBodyState( ::Oyster::Math::Float mass, ::Oyster::Math::Float restitutionCoeff, ::Oyster::Math::Float staticFrictionCoeff, ::Oyster::Math::Float kineticFrictionCoeff, const ::Oyster::Math::Float4x4 &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 )
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;
@ -45,9 +53,10 @@ 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;
}
inline CustomBodyState & CustomBodyState::operator = ( const CustomBodyState &state )
@ -69,6 +78,7 @@ namespace Oyster
this->isSpatiallyAltered = state.isSpatiallyAltered;
this->isDisturbed = state.isDisturbed;
this->isForwarded = state.isForwarded;
this->gravityNormal = state.gravityNormal;
return *this;
}
@ -92,91 +102,96 @@ namespace Oyster
return this->kineticFrictionCoeff;
}
inline const ::Oyster::Math::Float4x4 & CustomBodyState::GetMomentOfInertia() const
inline const ::Oyster::Physics3D::MomentOfInertia & CustomBodyState::GetMomentOfInertia() const
{
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::Float3 & CustomBodyState::GetGravityNormal() const
{
return this->gravityNormal;
}
inline void CustomBodyState::SetMass_KeepMomentum( ::Oyster::Math::Float m )
{
this->mass = m;
@ -204,47 +219,51 @@ namespace Oyster
this->kineticFrictionCoeff = kineticU;
}
inline void CustomBodyState::SetMomentOfInertia_KeepMomentum( const ::Oyster::Math::Float4x4 &tensor )
inline void CustomBodyState::SetMomentOfInertia_KeepMomentum( const ::Oyster::Physics3D::MomentOfInertia &tensor )
{
this->inertiaTensor = tensor;
}
inline void CustomBodyState::SetMomentOfInertia_KeepVelocity( const ::Oyster::Math::Float4x4 &tensor )
inline void CustomBodyState::SetMomentOfInertia_KeepVelocity( const ::Oyster::Physics3D::MomentOfInertia &tensor )
{
if( tensor.GetDeterminant() != 0.0f )
{ // sanity block!
::Oyster::Math::Float4x4 rotation = ::Oyster::Math3D::RotationMatrix(this->angularAxis.xyz);
::Oyster::Math::Float4 w = ::Oyster::Physics3D::Formula::AngularVelocity( (rotation * this->inertiaTensor).GetInverse(), this->angularMomentum );
this->inertiaTensor = tensor;
this->angularMomentum = ::Oyster::Physics3D::Formula::AngularMomentum( rotation * tensor, w );
}
::Oyster::Math::Quaternion rotation = ::Oyster::Math3D::Rotation(this->angularAxis);
::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::SetRotation( const ::Oyster::Math::Float4x4 &rotation )
inline void CustomBodyState::SetOrientation( const ::Oyster::Math::Float3 &angularAxis, const ::Oyster::Math::Float3 &translation )
{
this->angularAxis = angularAxis ;
this->centerPos = translation;
this->isSpatiallyAltered = this->isDisturbed = true;
}
/*inline void CustomBodyState::SetRotation( const ::Oyster::Math::Float4x4 &rotation )
{
this->SetRotation( ::Oyster::Math3D::AngularAxis(rotation) );
}
@ -253,67 +272,74 @@ namespace Oyster
{
this->SetRotation( ::Oyster::Math3D::ExtractAngularAxis(orientation) );
this->SetCenterPosition( orientation.v[3] );
}
}*/
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::AddRotation( const ::Oyster::Math::Float4 &angularAxis )
inline void CustomBodyState::SetGravityNormal( const ::Oyster::Math::Float3 &gravityNormal )
{
this->gravityNormal = gravityNormal;
}
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;

112
Code/GamePhysics/PhysicsStructs.h
View File

@ -3,6 +3,7 @@
#include "OysterMath.h"
#include "PhysicsAPI.h"
#include "Inertia.h"
namespace Oyster { namespace Physics
{
@ -11,11 +12,15 @@ 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::Float4x4 inertiaTensor;
::Oyster::Physics::ICustomBody::EventAction_Collision subscription_onCollision;
::Oyster::Math::Float restitutionCoeff;
::Oyster::Math::Float frictionCoeff_Static;
::Oyster::Math::Float frictionCoeff_Dynamic;
::Oyster::Physics3D::MomentOfInertia inertiaTensor;
::Oyster::Physics::ICustomBody::EventAction_BeforeCollisionResponse subscription_onCollision;
::Oyster::Physics::ICustomBody::EventAction_AfterCollisionResponse subscription_onCollisionResponse;
::Oyster::Physics::ICustomBody::EventAction_Move subscription_onMovement;
bool ignoreGravity;
@ -25,10 +30,14 @@ 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::Physics::ICustomBody::EventAction_Collision subscription_onCollision;
::Oyster::Math::Float restitutionCoeff;
::Oyster::Math::Float frictionCoeff_Static;
::Oyster::Math::Float frictionCoeff_Dynamic;
::Oyster::Physics::ICustomBody::EventAction_BeforeCollisionResponse subscription_onCollision;
::Oyster::Physics::ICustomBody::EventAction_AfterCollisionResponse subscription_onCollisionResponse;
::Oyster::Physics::ICustomBody::EventAction_Move subscription_onMovement;
bool ignoreGravity;
@ -42,12 +51,13 @@ namespace Oyster { namespace Physics
::Oyster::Math::Float restitutionCoeff = 1.0f,
::Oyster::Math::Float staticFrictionCoeff = 1.0f,
::Oyster::Math::Float kineticFrictionCoeff = 1.0f,
const ::Oyster::Math::Float4x4 &inertiaTensor = ::Oyster::Math::Float4x4::identity,
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::Physics3D::MomentOfInertia &inertiaTensor = ::Oyster::Physics3D::MomentOfInertia(),
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 );
@ -55,48 +65,51 @@ namespace Oyster { namespace Physics
const ::Oyster::Math::Float GetRestitutionCoeff() const;
const ::Oyster::Math::Float GetFrictionCoeff_Static() const;
const ::Oyster::Math::Float GetFrictionCoeff_Kinetic() const;
const ::Oyster::Math::Float4x4 & 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::Physics3D::MomentOfInertia & GetMomentOfInertia() 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;
::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 );
void SetRestitutionCoeff( ::Oyster::Math::Float e );
void SetFrictionCoeff( ::Oyster::Math::Float staticU, ::Oyster::Math::Float kineticU );
void SetMomentOfInertia_KeepMomentum( const ::Oyster::Math::Float4x4 &tensor );
void SetMomentOfInertia_KeepVelocity( const ::Oyster::Math::Float4x4 &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 SetRotation( const ::Oyster::Math::Float4x4 &rotation );
void SetOrientation( const ::Oyster::Math::Float4x4 &orientation );
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 SetMomentOfInertia_KeepMomentum( const ::Oyster::Physics3D::MomentOfInertia &tensor );
void SetMomentOfInertia_KeepVelocity( const ::Oyster::Physics3D::MomentOfInertia &tensor );
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::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;
@ -104,11 +117,12 @@ namespace Oyster { namespace Physics
private:
::Oyster::Math::Float mass, restitutionCoeff, staticFrictionCoeff, kineticFrictionCoeff;
::Oyster::Math::Float4x4 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::Physics3D::MomentOfInertia inertiaTensor;
::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;
};

4
Code/Misc/Thread/OysterThread_Impl.cpp
View File

@ -296,7 +296,9 @@ OYSTER_THREAD_ERROR OysterThread::SetWorker(ThreadFnc worker)
}
OYSTER_THREAD_ERROR OysterThread::Terminate()
{
return this->privateData->Terminate();
if(this->privateData)
return this->privateData->Terminate();
return OYSTER_THREAD_ERROR_SUCCESS;
}
OYSTER_THREAD_ERROR OysterThread::Wait()
{

4
Code/Misc/Utilities.h
View File

@ -327,6 +327,10 @@ namespace Utility
inline ValueType Min( const ValueType &valueA, const ValueType &valueB )
{ return valueA < valueB ? valueA : valueB; }
template<typename ValueType>
inline ValueType Clamp( const ValueType &value, const ValueType &min, const ValueType &max )
{ return value < min ? Max( value, max ) : min; }
template<typename ValueType>
inline ValueType Average( const ValueType &valueA, const ValueType &valueB )
{ return (valueA + valueB) * 0.5f; }

6
Code/Network/NetworkAPI/NetworkServer.cpp
View File

@ -224,7 +224,7 @@ void NetworkServer::Shutdown()
this->privateData->isReleased = true;
}
int NetworkServer::ProcessConnectedClients()
int NetworkServer::Update()
{
int c = 0;
while(!this->privateData->clientQueue.IsEmpty())
@ -282,6 +282,10 @@ std::string NetworkServer::GetLanAddress()
szLocalIP = buff;
return szLocalIP;
}
int NetworkServer::GetPort()
{
return this->privateData->port;
}

13
Code/Network/NetworkAPI/NetworkServer.h
View File

@ -46,6 +46,10 @@ namespace Oyster
*/
ServerReturnCode Start();
/** Parses asynchronous connected clients.
*/
int Update();
/**
*
*/
@ -55,10 +59,6 @@ namespace Oyster
*/
void Shutdown();
/** Parses asynchronous connected clients.
*/
int ProcessConnectedClients();
/** Set the main session connected clients will enter when connected to server.
* @param mainSession The session to connect as main server session.
*/
@ -84,6 +84,11 @@ namespace Oyster
*/
std::string GetLanAddress();
/**
*
*/
int NetworkServer::GetPort();
private:
struct PrivateData;
PrivateData* privateData;

172
Code/OysterMath/LinearMath.h
View File

@ -35,7 +35,7 @@ namespace std
// x2
template<typename ScalarType>
::LinearAlgebra::Matrix2x2<ScalarType> operator * ( const ::LinearAlgebra::Matrix2x2<ScalarType> &left, const ::LinearAlgebra::Matrix2x2<ScalarType> &right )
inline ::LinearAlgebra::Matrix2x2<ScalarType> operator * ( const ::LinearAlgebra::Matrix2x2<ScalarType> &left, const ::LinearAlgebra::Matrix2x2<ScalarType> &right )
{
return ::LinearAlgebra::Matrix2x2<ScalarType>( (left.m11 * right.m11) + (left.m12 * right.m21),
(left.m11 * right.m12) + (left.m12 * right.m22),
@ -44,14 +44,14 @@ template<typename ScalarType>
}
template<typename ScalarType>
::LinearAlgebra::Vector2<ScalarType> operator * ( const ::LinearAlgebra::Matrix2x2<ScalarType> &matrix, const ::LinearAlgebra::Vector2<ScalarType> &vector )
inline ::LinearAlgebra::Vector2<ScalarType> operator * ( const ::LinearAlgebra::Matrix2x2<ScalarType> &matrix, const ::LinearAlgebra::Vector2<ScalarType> &vector )
{
return ::LinearAlgebra::Vector2<ScalarType>( (matrix.m11 * vector.x) + (matrix.m12 * vector.y),
(matrix.m21 * vector.x) + (matrix.m22 * vector.y) );
}
template<typename ScalarType>
::LinearAlgebra::Vector2<ScalarType> operator * ( const ::LinearAlgebra::Vector2<ScalarType> &vector, const ::LinearAlgebra::Matrix2x2<ScalarType> &left )
inline ::LinearAlgebra::Vector2<ScalarType> operator * ( const ::LinearAlgebra::Vector2<ScalarType> &vector, const ::LinearAlgebra::Matrix2x2<ScalarType> &left )
{
return ::LinearAlgebra::Vector2<ScalarType>( (vector.x * matrix.m11) + (vector.y * matrix.m21),
(vector.x * matrix.m12) + (vector.y * matrix.m22) );
@ -60,7 +60,7 @@ template<typename ScalarType>
// x3
template<typename ScalarType>
::LinearAlgebra::Matrix3x3<ScalarType> operator * ( const ::LinearAlgebra::Matrix3x3<ScalarType> &left, const ::LinearAlgebra::Matrix3x3<ScalarType> &right )
inline ::LinearAlgebra::Matrix3x3<ScalarType> operator * ( const ::LinearAlgebra::Matrix3x3<ScalarType> &left, const ::LinearAlgebra::Matrix3x3<ScalarType> &right )
{
return ::LinearAlgebra::Matrix3x3<ScalarType>( (left.m11 * right.m11) + (left.m12 * right.m21) + (left.m13 * right.m31), (left.m11 * right.m12) + (left.m12 * right.m22) + (left.m13 * right.m32), (left.m11 * right.m13) + (left.m12 * right.m23) + (left.m13 * right.m33),
(left.m21 * right.m11) + (left.m22 * right.m21) + (left.m23 * right.m31), (left.m21 * right.m12) + (left.m22 * right.m22) + (left.m23 * right.m32), (left.m21 * right.m13) + (left.m22 * right.m23) + (left.m23 * right.m33),
@ -68,7 +68,7 @@ template<typename ScalarType>
}
template<typename ScalarType>
::LinearAlgebra::Vector3<ScalarType> operator * ( const ::LinearAlgebra::Matrix3x3<ScalarType> &matrix, const ::LinearAlgebra::Vector3<ScalarType> &vector )
inline ::LinearAlgebra::Vector3<ScalarType> operator * ( const ::LinearAlgebra::Matrix3x3<ScalarType> &matrix, const ::LinearAlgebra::Vector3<ScalarType> &vector )
{
return ::LinearAlgebra::Vector3<ScalarType>( (matrix.m11 * vector.x) + (matrix.m12 * vector.y) + (matrix.m13 * vector.z),
(matrix.m21 * vector.x) + (matrix.m22 * vector.y) + (matrix.m23 * vector.z),
@ -76,7 +76,7 @@ template<typename ScalarType>
}
template<typename ScalarType>
::LinearAlgebra::Vector3<ScalarType> operator * ( const ::LinearAlgebra::Vector3<ScalarType> &vector, const ::LinearAlgebra::Matrix3x3<ScalarType> &left )
inline ::LinearAlgebra::Vector3<ScalarType> operator * ( const ::LinearAlgebra::Vector3<ScalarType> &vector, const ::LinearAlgebra::Matrix3x3<ScalarType> &left )
{
return ::LinearAlgebra::Vector3<ScalarType>( (vector.x * matrix.m11) + (vector.y * matrix.m21) + (vector.z * matrix.m31),
(vector.x * matrix.m12) + (vector.y * matrix.m22) + (vector.z * matrix.m32),
@ -86,7 +86,7 @@ template<typename ScalarType>
// x4
template<typename ScalarType>
::LinearAlgebra::Matrix4x4<ScalarType> operator * ( const ::LinearAlgebra::Matrix4x4<ScalarType> &left, const ::LinearAlgebra::Matrix4x4<ScalarType> &right )
inline ::LinearAlgebra::Matrix4x4<ScalarType> operator * ( const ::LinearAlgebra::Matrix4x4<ScalarType> &left, const ::LinearAlgebra::Matrix4x4<ScalarType> &right )
{
return ::LinearAlgebra::Matrix4x4<ScalarType>( (left.m11 * right.m11) + (left.m12 * right.m21) + (left.m13 * right.m31) + (left.m14 * right.m41), (left.m11 * right.m12) + (left.m12 * right.m22) + (left.m13 * right.m32) + (left.m14 * right.m42), (left.m11 * right.m13) + (left.m12 * right.m23) + (left.m13 * right.m33) + (left.m14 * right.m43), (left.m11 * right.m14) + (left.m12 * right.m24) + (left.m13 * right.m34) + (left.m14 * right.m44),
(left.m21 * right.m11) + (left.m22 * right.m21) + (left.m23 * right.m31) + (left.m24 * right.m41), (left.m21 * right.m12) + (left.m22 * right.m22) + (left.m23 * right.m32) + (left.m24 * right.m42), (left.m21 * right.m13) + (left.m22 * right.m23) + (left.m23 * right.m33) + (left.m24 * right.m43), (left.m21 * right.m14) + (left.m22 * right.m24) + (left.m23 * right.m34) + (left.m24 * right.m44),
@ -95,7 +95,7 @@ template<typename ScalarType>
}
template<typename ScalarType>
::LinearAlgebra::Vector4<ScalarType> operator * ( const ::LinearAlgebra::Matrix4x4<ScalarType> &matrix, const ::LinearAlgebra::Vector4<ScalarType> &vector )
inline ::LinearAlgebra::Vector4<ScalarType> operator * ( const ::LinearAlgebra::Matrix4x4<ScalarType> &matrix, const ::LinearAlgebra::Vector4<ScalarType> &vector )
{
return ::LinearAlgebra::Vector4<ScalarType>( (matrix.m11 * vector.x) + (matrix.m12 * vector.y) + (matrix.m13 * vector.z) + (matrix.m14 * vector.w),
(matrix.m21 * vector.x) + (matrix.m22 * vector.y) + (matrix.m23 * vector.z) + (matrix.m24 * vector.w),
@ -104,7 +104,7 @@ template<typename ScalarType>
}
template<typename ScalarType>
::LinearAlgebra::Vector4<ScalarType> operator * ( const ::LinearAlgebra::Vector4<ScalarType> &vector, const ::LinearAlgebra::Matrix4x4<ScalarType> &matrix )
inline ::LinearAlgebra::Vector4<ScalarType> operator * ( const ::LinearAlgebra::Vector4<ScalarType> &vector, const ::LinearAlgebra::Matrix4x4<ScalarType> &matrix )
{
return ::LinearAlgebra::Vector4<ScalarType>( (vector.x * matrix.m11) + (vector.y * matrix.m21) + (vector.z * matrix.m31) + (vector.w * matrix.m41),
(vector.x * matrix.m12) + (vector.y * matrix.m22) + (vector.z * matrix.m32) + (vector.w * matrix.m42),
@ -146,6 +146,77 @@ namespace LinearAlgebra
targetMem = out * (in.GetAdjoint() /= d);
return true;
}
/********************************************************************
* Linear Interpolation
* @return start * (1-t) + end * t
********************************************************************/
template<typename PointType, typename ScalarType>
inline PointType Lerp( const PointType &start, const PointType &end, const ScalarType &t )
{
return end * t + start * ( 1 - t );
}
/********************************************************************
* Normalized Linear Interpolation
* @return nullvector if Lerp( start, end, t ) is nullvector.
********************************************************************/
template<typename ScalarType>
inline Vector2<ScalarType> Nlerp( const Vector2<ScalarType> &start, const Vector2<ScalarType> &end, const ScalarType &t )
{
Vector2<ScalarType> output = Lerp( start, end, t );
ScalarType magnitudeSquared = output.Dot( output );
if( magnitudeSquared != 0 )
{
return output /= (ScalarType)::std::sqrt( magnitudeSquared );
}
return output; // error: returning nullvector
}
/********************************************************************
* Normalized Linear Interpolation
* @return nullvector if Lerp( start, end, t ) is nullvector.
********************************************************************/
template<typename ScalarType>
inline Vector3<ScalarType> Nlerp( const Vector3<ScalarType> &start, const Vector3<ScalarType> &end, const ScalarType &t )
{
Vector3<ScalarType> output = Lerp( start, end, t );
ScalarType magnitudeSquared = output.Dot( output );
if( magnitudeSquared != 0 )
{
return output /= (ScalarType)::std::sqrt( magnitudeSquared );
}
return output; // error: returning nullvector
}
/********************************************************************
* Normalized Linear Interpolation
* @return nullvector if Lerp( start, end, t ) is nullvector.
********************************************************************/
template<typename ScalarType>
inline Vector4<ScalarType> Nlerp( const Vector4<ScalarType> &start, const Vector4<ScalarType> &end, const ScalarType &t )
{
Vector4<ScalarType> output = Lerp( start, end, t );
ScalarType magnitudeSquared = output.Dot( output );
if( magnitudeSquared != 0 )
{
return output /= (ScalarType)::std::sqrt( magnitudeSquared );
}
return output; // error: returning nullvector
}
/********************************************************************
* Spherical Linear Interpolation on Quaternions
********************************************************************/
template<typename ScalarType>
inline Quaternion<ScalarType> Slerp( const Quaternion<ScalarType> &start, const Quaternion<ScalarType> &end, const ScalarType &t )
{
ScalarType angle = (ScalarType)::std::acos( Vector4<ScalarType>(start.imaginary, start.real).Dot(Vector4<ScalarType>(end.imaginary, end.real)) );
Quaternion<ScalarType> result = start * (ScalarType)::std::sin( angle * (1 - t) );
result += end * (ScalarType)::std::sin( angle * t );
result *= (ScalarType)1.0f / (ScalarType)::std::sin( angle );
return result;
}
}
namespace LinearAlgebra2D
@ -254,23 +325,24 @@ namespace LinearAlgebra2D
namespace LinearAlgebra3D
{
template<typename ScalarType>
inline ::LinearAlgebra::Vector4<ScalarType> AngularAxis( const ::LinearAlgebra::Matrix3x3<ScalarType> &rotationMatrix )
{
return ::std::asin( ::LinearAlgebra::Vector4<ScalarType>(rotationMatrix.v[1].z, rotationMatrix.v[2].x, rotationMatrix.v[0].y, 1) );
}
// All Matrix to AngularAxis conversions here is incorrect
//template<typename ScalarType>
//inline ::LinearAlgebra::Vector4<ScalarType> AngularAxis( const ::LinearAlgebra::Matrix3x3<ScalarType> &rotationMatrix )
//{
// return ::std::asin( ::LinearAlgebra::Vector4<ScalarType>(rotationMatrix.v[1].z, rotationMatrix.v[2].x, rotationMatrix.v[0].y, 1) );
//}
template<typename ScalarType>
inline ::LinearAlgebra::Vector4<ScalarType> AngularAxis( const ::LinearAlgebra::Matrix4x4<ScalarType> &rotationMatrix )
{
return ::std::asin( ::LinearAlgebra::Vector4<ScalarType>(rotationMatrix.v[1].z, rotationMatrix.v[2].x, rotationMatrix.v[0].y, 1) );
}
//template<typename ScalarType>
//inline ::LinearAlgebra::Vector4<ScalarType> AngularAxis( const ::LinearAlgebra::Matrix4x4<ScalarType> &rotationMatrix )
//{
// return ::std::asin( ::LinearAlgebra::Vector4<ScalarType>(rotationMatrix.v[1].z, rotationMatrix.v[2].x, rotationMatrix.v[0].y, 1) );
//}
template<typename ScalarType>
inline ::LinearAlgebra::Vector4<ScalarType> ExtractAngularAxis( const ::LinearAlgebra::Matrix4x4<ScalarType> &orientationMatrix )
{
return ::std::asin( ::LinearAlgebra::Vector4<ScalarType>(orientationMatrix.v[1].z, orientationMatrix.v[2].x, orientationMatrix.v[0].y, 0) );
}
//template<typename ScalarType>
//inline ::LinearAlgebra::Vector4<ScalarType> ExtractAngularAxis( const ::LinearAlgebra::Matrix4x4<ScalarType> &orientationMatrix )
//{
// return ::std::asin( ::LinearAlgebra::Vector4<ScalarType>(orientationMatrix.v[1].z, orientationMatrix.v[2].x, orientationMatrix.v[0].y, 0) );
//}
template<typename ScalarType>
inline ::LinearAlgebra::Matrix4x4<ScalarType> & TranslationMatrix( const ::LinearAlgebra::Vector3<ScalarType> &position, ::LinearAlgebra::Matrix4x4<ScalarType> &targetMem = ::LinearAlgebra::Matrix4x4<ScalarType>() )
@ -668,6 +740,58 @@ namespace LinearAlgebra3D
template<typename ScalarType>
inline ::LinearAlgebra::Vector4<ScalarType> NormalProjection( const ::LinearAlgebra::Vector4<ScalarType> &vector, const ::LinearAlgebra::Vector4<ScalarType> &normalizedAxis )
{ return normalizedAxis * ( vector.Dot(normalizedAxis) ); }
template<typename ScalarType>
::LinearAlgebra::Matrix4x4<ScalarType> & SnapAxisYToNormal_UsingNlerp( ::LinearAlgebra::Matrix4x4<ScalarType> &rotation, const ::LinearAlgebra::Vector4<ScalarType> &normalizedAxis )
{
ScalarType projectedMagnitude = rotation.v[0].Dot( normalizedAxis );
if( projectedMagnitude == 1 )
{ // infinite possible solutions -> roadtrip!
::LinearAlgebra::Vector4<ScalarType> interpolated = ::LinearAlgebra::Nlerp( rotation.v[1], normalizedAxis, (ScalarType)0.5f );
// interpolated.Dot( interpolated ) == 0 should be impossible at this point
projectedMagnitude = rotation.v[0].Dot( interpolated );
rotation.v[0] -= projectedMagnitude * interpolated;
rotation.v[0].Normalize();
projectedMagnitude = rotation.v[0].Dot( normalizedAxis );
}
rotation.v[0] -= projectedMagnitude * normalizedAxis;
rotation.v[0].Normalize();
rotation.v[1] = normalizedAxis;
rotation.v[2].xyz = rotation.v[0].xyz.Cross( rotation.v[1].xyz );
return rotation;
}
template<typename ScalarType>
::LinearAlgebra::Matrix4x4<ScalarType> & InterpolateAxisYToNormal_UsingNlerp( ::LinearAlgebra::Matrix4x4<ScalarType> &rotation, const ::LinearAlgebra::Vector4<ScalarType> &normalizedAxis, ScalarType t )
{
::LinearAlgebra::Vector4<ScalarType> interpolated = ::LinearAlgebra::Nlerp( rotation.v[1], normalizedAxis, t );
if( interpolated.Dot(interpolated) == 0 )
return rotation; // return no change
return SnapAxisYToNormal_UsingNlerp( rotation, interpolated );
}
template<typename ScalarType>
::LinearAlgebra::Matrix4x4<ScalarType> & InterpolateOrientation_UsingNonRigidNlerp( const ::LinearAlgebra::Matrix4x4<ScalarType> &start, const ::LinearAlgebra::Matrix4x4<ScalarType> &end, ScalarType t, ::LinearAlgebra::Matrix4x4<ScalarType> &targetMem )
{
targetMem.v[0] = ::LinearAlgebra::Nlerp( start.v[0], end.v[0], t );
targetMem.v[1] = ::LinearAlgebra::Nlerp( start.v[1], end.v[1], t );
targetMem.v[2] = ::LinearAlgebra::Nlerp( start.v[2], end.v[2], t );
targetMem.v[3] = ::LinearAlgebra::Lerp( start.v[3], end.v[3], t );
return targetMem;
}
template<typename ScalarType>
::LinearAlgebra::Matrix4x4<ScalarType> & InterpolateOrientation_UsingNonRigidNlerp( const ::LinearAlgebra::Quaternion<ScalarType> &startR, const ::LinearAlgebra::Vector3<ScalarType> &startT, const ::LinearAlgebra::Quaternion<ScalarType> &endR, const ::LinearAlgebra::Vector3<ScalarType> &endT, ScalarType t, ::LinearAlgebra::Matrix4x4<ScalarType> &targetMem )
{
return InterpolateOrientation_UsingNonRigidNlerp( OrientationMatrix(startR, startT), OrientationMatrix(endR, endT), t, targetMem );
}
template<typename ScalarType>
::LinearAlgebra::Matrix4x4<ScalarType> & InterpolateOrientation_UsingSlerp( const ::LinearAlgebra::Quaternion<ScalarType> &startR, const ::LinearAlgebra::Vector3<ScalarType> &startT, const ::LinearAlgebra::Quaternion<ScalarType> &endR, const ::LinearAlgebra::Vector3<ScalarType> &endT, ScalarType t, ::LinearAlgebra::Matrix4x4<ScalarType> &targetMem )
{
return OrientationMatrix( ::LinearAlgebra::Slerp(startR, endR, t), ::LinearAlgebra::Lerp(::LinearAlgebra::Vector4<ScalarType>(startT, (ScalarType)1.0f), ::LinearAlgebra::Vector4<ScalarType>(endT, (ScalarType)1.0f), t).xyz, targetMem );
}
}
#include "Utilities.h"

24
Code/OysterMath/Matrix.h
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@ -163,12 +163,18 @@ namespace LinearAlgebra
Vector4<ScalarType> GetRowVector( unsigned int rowID ) const;
const Vector4<ScalarType> & GetColumnVector( unsigned int colID ) const;
};
}
template<typename ScalarType> LinearAlgebra::Matrix2x2<ScalarType> operator * ( const ScalarType &left, const LinearAlgebra::Matrix2x2<ScalarType> &right );
template<typename ScalarType> LinearAlgebra::Matrix3x3<ScalarType> operator * ( const ScalarType &left, const LinearAlgebra::Matrix3x3<ScalarType> &right );
template<typename ScalarType> LinearAlgebra::Matrix4x4<ScalarType> operator * ( const ScalarType &left, const LinearAlgebra::Matrix4x4<ScalarType> &right );
///////////////////////////////////////////////////////////////////////////////////
// Body
///////////////////////////////////////////////////////////////////////////////////
namespace LinearAlgebra
{
// Matrix2x2<ScalarType> ///////////////////////////////////////
template<typename ScalarType>
@ -753,4 +759,22 @@ namespace LinearAlgebra
{ return this->v[colID]; }
}
template<typename ScalarType>
inline LinearAlgebra::Matrix2x2<ScalarType> operator * ( const ScalarType &left, const LinearAlgebra::Matrix2x2<ScalarType> &right )
{
return right * left;
}
template<typename ScalarType>
inline LinearAlgebra::Matrix3x3<ScalarType> operator * ( const ScalarType &left, const LinearAlgebra::Matrix3x3<ScalarType> &right )
{
return right * left;
}
template<typename ScalarType>
inline LinearAlgebra::Matrix4x4<ScalarType> operator * ( const ScalarType &left, const LinearAlgebra::Matrix4x4<ScalarType> &right )
{
return right * left;
}
#endif

24
Code/OysterMath/OysterMath.cpp
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@ -81,20 +81,20 @@ namespace Oyster { namespace Math2D
namespace Oyster { namespace Math3D
{
Float4 AngularAxis( const Float3x3 &rotationMatrix )
{
return ::LinearAlgebra3D::AngularAxis( rotationMatrix );
}
//Float4 AngularAxis( const Float3x3 &rotationMatrix )
//{
// return ::LinearAlgebra3D::AngularAxis( rotationMatrix );
//}
Float4 AngularAxis( const Float4x4 &rotationMatrix )
{
return ::LinearAlgebra3D::AngularAxis( rotationMatrix );
}
//Float4 AngularAxis( const Float4x4 &rotationMatrix )
//{
// return ::LinearAlgebra3D::AngularAxis( rotationMatrix );
//}
Float4 ExtractAngularAxis( const Float4x4 &orientationMatrix )
{
return ::LinearAlgebra3D::ExtractAngularAxis( orientationMatrix );
}
//Float4 ExtractAngularAxis( const Float4x4 &orientationMatrix )
//{
// return ::LinearAlgebra3D::ExtractAngularAxis( orientationMatrix );
//}
Float4x4 & TranslationMatrix( const Float3 &position, Float4x4 &targetMem )
{

76
Code/OysterMath/OysterMath.h
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@ -45,59 +45,50 @@ namespace Oyster { namespace Math //! Oyster's native math library
//! Creates a solution matrix for 'out´= 'targetMem' * 'in'.
//! Returns false if there is no explicit solution.
bool SuperpositionMatrix( const Float4x4 &in, const Float4x4 &out, Float4x4 &targetMem );
/********************************************************************
* Linear Interpolation
* @return start * (1-t) + end * t
********************************************************************/
using ::LinearAlgebra::Lerp;
/********************************************************************
* Normalized Linear Interpolation
* @return nullvector if Lerp( start, end, t ) is nullvector.
********************************************************************/
using ::LinearAlgebra::Nlerp;
/********************************************************************
* Spherical Linear Interpolation on Quaternions
********************************************************************/
using ::LinearAlgebra::Slerp;
} }
inline ::Oyster::Math::Float2 & operator *= ( ::Oyster::Math::Float2 &left, const ::Oyster::Math::Float2 &right )
{
left.x *= right.x;
left.y *= right.y;
return left;
return left.PiecewiseMultiplicationAdd( right );
}
inline ::Oyster::Math::Float2 operator * ( const ::Oyster::Math::Float2 &left, const ::Oyster::Math::Float2 &right )
{ return ::Oyster::Math::Float2(left) *= right; }
inline ::Oyster::Math::Float2 operator * ( const ::Oyster::Math::Float &left, const ::Oyster::Math::Float2 &right )
{ return ::Oyster::Math::Float2(right) *= left; }
{
return left.PiecewiseMultiplication( right );
}
inline ::Oyster::Math::Float3 & operator *= ( ::Oyster::Math::Float3 &left, const ::Oyster::Math::Float3 &right )
{
left.x *= right.x;
left.y *= right.y;
left.z *= right.z;
return left;
return left.PiecewiseMultiplicationAdd( right );
}
inline ::Oyster::Math::Float3 operator * ( const ::Oyster::Math::Float3 &left, const ::Oyster::Math::Float3 &right )
{ return ::Oyster::Math::Float3(left) *= right; }
inline ::Oyster::Math::Float3 operator * ( const ::Oyster::Math::Float &left, const ::Oyster::Math::Float3 &right )
{ return ::Oyster::Math::Float3(right) *= left; }
{
return left.PiecewiseMultiplication( right );
}
inline ::Oyster::Math::Float4 & operator *= ( ::Oyster::Math::Float4 &left, const ::Oyster::Math::Float4 &right )
{
left.x *= right.x;
left.y *= right.y;
left.z *= right.z;
left.w *= right.w;
return left;
return left.PiecewiseMultiplicationAdd( right );
}
inline ::Oyster::Math::Float4 operator * ( const ::Oyster::Math::Float4 &left, const ::Oyster::Math::Float4 &right )
{ return ::Oyster::Math::Float4(left) *= right; }
inline ::Oyster::Math::Float4 operator * ( const ::Oyster::Math::Float &left, const ::Oyster::Math::Float4 &right )
{ return ::Oyster::Math::Float4(right) *= left; }
inline ::Oyster::Math::Float2x2 operator * ( const ::Oyster::Math::Float &left, const ::Oyster::Math::Float2x2 &right )
{ return ::Oyster::Math::Float2x2(right) *= left; }
inline ::Oyster::Math::Float3x3 operator * ( const ::Oyster::Math::Float &left, const ::Oyster::Math::Float3x3 &right )
{ return ::Oyster::Math::Float3x3(right) *= left; }
inline ::Oyster::Math::Float4x4 operator * ( const ::Oyster::Math::Float &left, const ::Oyster::Math::Float4x4 &right )
{ return ::Oyster::Math::Float4x4(right) *= left; }
namespace Oyster { namespace Math2D //! Oyster's native math library specialized for 2D
{
using namespace ::Oyster::Math; // deliberate inheritance from ::Oyster::Math namespace
@ -150,13 +141,13 @@ namespace Oyster { namespace Math3D //! Oyster's native math library specialized
using namespace ::Oyster::Math; // deliberate inheritance from ::Oyster::Math namespace
//! Extracts the angularAxis from rotationMatrix
Float4 AngularAxis( const Float3x3 &rotationMatrix );
//Float4 AngularAxis( const Float3x3 &rotationMatrix );
//! Extracts the angularAxis from rotationMatrix
Float4 AngularAxis( const Float4x4 &rotationMatrix );
////! Extracts the angularAxis from rotationMatrix
//Float4 AngularAxis( const Float4x4 &rotationMatrix );
//! Extracts the angularAxis from orientationMatrix
Float4 ExtractAngularAxis( const Float4x4 &orientationMatrix );
////! Extracts the angularAxis from orientationMatrix
//Float4 ExtractAngularAxis( const Float4x4 &orientationMatrix );
//! Sets and returns targetMem to a translationMatrix with position as translation.
Float4x4 & TranslationMatrix( const Float3 &position, Float4x4 &targetMem = Float4x4() );
@ -328,6 +319,11 @@ namespace Oyster { namespace Math3D //! Oyster's native math library specialized
//! Helper inline function that sets and then returns targetMem = transformer * transformee
inline Float4 & TransformVector( const Float4x4 &transformer, const Float4 &transformee, Float4 &targetMem = Float4() )
{ return targetMem = transformer * transformee; }
using ::LinearAlgebra3D::SnapAxisYToNormal_UsingNlerp;
using ::LinearAlgebra3D::InterpolateAxisYToNormal_UsingNlerp;
using ::LinearAlgebra3D::InterpolateOrientation_UsingNonRigidNlerp;
using ::LinearAlgebra3D::InterpolateOrientation_UsingSlerp;
} }
#endif

180
Code/OysterMath/Vector.h
View File

@ -57,6 +57,12 @@ namespace LinearAlgebra
ScalarType GetMagnitude( ) const;
ScalarType Dot( const Vector2<ScalarType> &vector ) const;
//! @return (a.x * b.x, a.y * b.y)
Vector2<ScalarType> PiecewiseMultiplication( const Vector2<ScalarType> &vector ) const;
//! @return a = (a.x * b.x, a.y * b.y)
Vector2<ScalarType> & PiecewiseMultiplicationAdd( const Vector2<ScalarType> &vector );
Vector2<ScalarType> & Normalize( );
Vector2<ScalarType> GetNormalized( ) const;
};
@ -112,6 +118,12 @@ namespace LinearAlgebra
ScalarType Dot( const Vector3<ScalarType> &vector ) const;
Vector3<ScalarType> Cross( const Vector3<ScalarType> &vector ) const;
//! @return (a.x * b.x, a.y * b.y, a.z * b.z)
Vector3<ScalarType> PiecewiseMultiplication( const Vector3<ScalarType> &vector ) const;
//! @return a = (a.x * b.x, a.y * b.y, a.z * b.z)
Vector3<ScalarType> & PiecewiseMultiplicationAdd( const Vector3<ScalarType> &vector );
Vector3<ScalarType> & Normalize( );
Vector3<ScalarType> GetNormalized( ) const;
};
@ -169,14 +181,27 @@ namespace LinearAlgebra
ScalarType GetMagnitude( ) const;
ScalarType Dot( const Vector4<ScalarType> &vector ) const;
//! @return (a.x * b.x, a.y * b.y, a.z * b.z, a.w * b.w)
Vector4<ScalarType> PiecewiseMultiplication( const Vector4<ScalarType> &vector ) const;
//! @return a = (a.x * b.x, a.y * b.y, a.z * b.z, a.w * b.w)
Vector4<ScalarType> & PiecewiseMultiplicationAdd( const Vector4<ScalarType> &vector );
Vector4<ScalarType> & Normalize( );
Vector4<ScalarType> GetNormalized( ) const;
};
}
template<typename ScalarType> ::LinearAlgebra::Vector2<ScalarType> operator * ( const ScalarType &left, const ::LinearAlgebra::Vector2<ScalarType> &right );
template<typename ScalarType> ::LinearAlgebra::Vector3<ScalarType> operator * ( const ScalarType &left, const ::LinearAlgebra::Vector3<ScalarType> &right );
template<typename ScalarType> ::LinearAlgebra::Vector4<ScalarType> operator * ( const ScalarType &left, const ::LinearAlgebra::Vector4<ScalarType> &right );
///////////////////////////////////////////////////////////////////////////////////
// Body
///////////////////////////////////////////////////////////////////////////////////
namespace LinearAlgebra
{
// Vector2<ScalarType> ///////////////////////////////////////
template<typename ScalarType> const Vector2<ScalarType> Vector2<ScalarType>::null = Vector2<ScalarType>( 0, 0 );
@ -184,22 +209,22 @@ namespace LinearAlgebra
template<typename ScalarType> const Vector2<ScalarType> Vector2<ScalarType>::standard_unit_y = Vector2<ScalarType>( 0, 1 );
template<typename ScalarType>
Vector2<ScalarType>::Vector2( ) : x(), y() {}
inline Vector2<ScalarType>::Vector2( ) : x(), y() {}
template<typename ScalarType>
Vector2<ScalarType>::Vector2( const Vector2<ScalarType> &vector )
inline Vector2<ScalarType>::Vector2( const Vector2<ScalarType> &vector )
{ this->x = vector.x; this->y = vector.y; }
template<typename ScalarType>
Vector2<ScalarType>::Vector2( const ScalarType &_element )
inline Vector2<ScalarType>::Vector2( const ScalarType &_element )
{ this->x = this->y = _element; }
template<typename ScalarType>
Vector2<ScalarType>::Vector2( const ScalarType _element[2] )
inline Vector2<ScalarType>::Vector2( const ScalarType _element[2] )
{ this->x = _element[0]; this->y = _element[1]; }
template<typename ScalarType>
Vector2<ScalarType>::Vector2( const ScalarType &_x, const ScalarType &_y )
inline Vector2<ScalarType>::Vector2( const ScalarType &_x, const ScalarType &_y )
{ this->x = _x; this->y = _y; }
template<typename ScalarType>
@ -227,7 +252,7 @@ namespace LinearAlgebra
{ return this->element[i]; }
template<typename ScalarType>
Vector2<ScalarType> & Vector2<ScalarType>::operator = ( const Vector2<ScalarType> &vector )
inline Vector2<ScalarType> & Vector2<ScalarType>::operator = ( const Vector2<ScalarType> &vector )
{
this->element[0] = vector.element[0];
this->element[1] = vector.element[1];
@ -235,7 +260,7 @@ namespace LinearAlgebra
}
template<typename ScalarType>
Vector2<ScalarType> & Vector2<ScalarType>::operator = ( const ScalarType _element[2] )
inline Vector2<ScalarType> & Vector2<ScalarType>::operator = ( const ScalarType _element[2] )
{
this->element[0] = _element[0];
this->element[1] = _element[1];
@ -243,7 +268,7 @@ namespace LinearAlgebra
}
template<typename ScalarType>
Vector2<ScalarType> & Vector2<ScalarType>::operator *= ( const ScalarType &scalar )
inline Vector2<ScalarType> & Vector2<ScalarType>::operator *= ( const ScalarType &scalar )
{
this->element[0] *= scalar;
this->element[1] *= scalar;
@ -251,7 +276,7 @@ namespace LinearAlgebra
}
template<typename ScalarType>
Vector2<ScalarType> & Vector2<ScalarType>::operator /= ( const ScalarType &scalar )
inline Vector2<ScalarType> & Vector2<ScalarType>::operator /= ( const ScalarType &scalar )
{
this->element[0] /= scalar;
this->element[1] /= scalar;
@ -259,7 +284,7 @@ namespace LinearAlgebra
}
template<typename ScalarType>
Vector2<ScalarType> & Vector2<ScalarType>::operator += ( const Vector2<ScalarType> &vector )
inline Vector2<ScalarType> & Vector2<ScalarType>::operator += ( const Vector2<ScalarType> &vector )
{
this->element[0] += vector.element[0];
this->element[1] += vector.element[1];
@ -267,7 +292,7 @@ namespace LinearAlgebra
}
template<typename ScalarType>
Vector2<ScalarType> & Vector2<ScalarType>::operator -= ( const Vector2<ScalarType> &vector )
inline Vector2<ScalarType> & Vector2<ScalarType>::operator -= ( const Vector2<ScalarType> &vector )
{
this->element[0] -= vector.element[0];
this->element[1] -= vector.element[1];
@ -295,7 +320,7 @@ namespace LinearAlgebra
{ return Vector2<ScalarType>(-this->x, -this->y); }
template<typename ScalarType>
bool Vector2<ScalarType>::operator == ( const Vector2<ScalarType> &vector ) const
inline bool Vector2<ScalarType>::operator == ( const Vector2<ScalarType> &vector ) const
{
if( this->x != vector.x ) return false;
if( this->y != vector.y ) return false;
@ -303,7 +328,7 @@ namespace LinearAlgebra
}
template<typename ScalarType>
bool Vector2<ScalarType>::operator != ( const Vector2<ScalarType> &vector ) const
inline bool Vector2<ScalarType>::operator != ( const Vector2<ScalarType> &vector ) const
{
if( this->x != vector.x ) return true;
if( this->y != vector.y ) return true;
@ -319,7 +344,7 @@ namespace LinearAlgebra
{ return (ScalarType) ::sqrt( this->Dot(*this) ); }
template<typename ScalarType>
ScalarType Vector2<ScalarType>::Dot( const Vector2<ScalarType> &vector ) const
inline ScalarType Vector2<ScalarType>::Dot( const Vector2<ScalarType> &vector ) const
{
ScalarType value = 0;
value += this->element[0] * vector.element[0];
@ -327,6 +352,20 @@ namespace LinearAlgebra
return value;
}
template<typename ScalarType>
inline Vector2<ScalarType> Vector2<ScalarType>::PiecewiseMultiplication( const Vector2<ScalarType> &vector ) const
{
return Vector2<ScalarType>( this->x * vector.x, this->y * vector.y );
}
template<typename ScalarType>
inline Vector2<ScalarType> & Vector2<ScalarType>::PiecewiseMultiplicationAdd( const Vector2<ScalarType> &vector )
{
this->x *= vector.x;
this->y *= vector.y;
return *this;
}
template<typename ScalarType>
inline Vector2<ScalarType> & Vector2<ScalarType>::Normalize( )
{ return (*this) /= this->GetLength(); }
@ -343,26 +382,26 @@ namespace LinearAlgebra
template<typename ScalarType> const Vector3<ScalarType> Vector3<ScalarType>::standard_unit_z = Vector3<ScalarType>( 0, 0, 1 );
template<typename ScalarType>
Vector3<ScalarType>::Vector3( ) : x(), y(), z() {}
inline Vector3<ScalarType>::Vector3( ) : x(), y(), z() {}
template<typename ScalarType>
Vector3<ScalarType>::Vector3( const Vector3<ScalarType> &vector )
inline Vector3<ScalarType>::Vector3( const Vector3<ScalarType> &vector )
{ this->x = vector.x; this->y = vector.y; this->z = vector.z; }
template<typename ScalarType>
Vector3<ScalarType>::Vector3( const Vector2<ScalarType> &vector, const ScalarType &_z )
inline Vector3<ScalarType>::Vector3( const Vector2<ScalarType> &vector, const ScalarType &_z )
{ this->x = vector.x; this->y = vector.y; this->z = _z; }
template<typename ScalarType>
Vector3<ScalarType>::Vector3( const ScalarType &_element )
inline Vector3<ScalarType>::Vector3( const ScalarType &_element )
{ this->x = this->y = this->z = _element; }
template<typename ScalarType>
Vector3<ScalarType>::Vector3( const ScalarType _element[3] )
inline Vector3<ScalarType>::Vector3( const ScalarType _element[3] )
{ this->x = _element[0]; this->y = _element[1]; this->z = _element[2]; }
template<typename ScalarType>
Vector3<ScalarType>::Vector3( const ScalarType &_x, const ScalarType &_y, const ScalarType &_z )
inline Vector3<ScalarType>::Vector3( const ScalarType &_x, const ScalarType &_y, const ScalarType &_z )
{ this->x = _x; this->y = _y; this->z = _z; }
template<typename ScalarType>
@ -382,7 +421,7 @@ namespace LinearAlgebra
{ return this->element[i]; }
template<typename ScalarType>
Vector3<ScalarType> & Vector3<ScalarType>::operator = ( const Vector3<ScalarType> &vector )
inline Vector3<ScalarType> & Vector3<ScalarType>::operator = ( const Vector3<ScalarType> &vector )
{
this->element[0] = vector.element[0];
this->element[1] = vector.element[1];
@ -391,7 +430,7 @@ namespace LinearAlgebra
}
template<typename ScalarType>
Vector3<ScalarType> & Vector3<ScalarType>::operator = ( const ScalarType element[3] )
inline Vector3<ScalarType> & Vector3<ScalarType>::operator = ( const ScalarType element[3] )
{
this->element[0] = element[0];
this->element[1] = element[1];
@ -400,7 +439,7 @@ namespace LinearAlgebra
}
template<typename ScalarType>
Vector3<ScalarType> & Vector3<ScalarType>::operator *= ( const ScalarType &scalar )
inline Vector3<ScalarType> & Vector3<ScalarType>::operator *= ( const ScalarType &scalar )
{
this->element[0] *= scalar;
this->element[1] *= scalar;
@ -409,7 +448,7 @@ namespace LinearAlgebra
}
template<typename ScalarType>
Vector3<ScalarType> & Vector3<ScalarType>::operator /= ( const ScalarType &scalar )
inline Vector3<ScalarType> & Vector3<ScalarType>::operator /= ( const ScalarType &scalar )
{
this->element[0] /= scalar;
this->element[1] /= scalar;
@ -418,7 +457,7 @@ namespace LinearAlgebra
}
template<typename ScalarType>
Vector3<ScalarType> & Vector3<ScalarType>::operator += ( const Vector3<ScalarType> &vector )
inline Vector3<ScalarType> & Vector3<ScalarType>::operator += ( const Vector3<ScalarType> &vector )
{
this->element[0] += vector.element[0];
this->element[1] += vector.element[1];
@ -427,7 +466,7 @@ namespace LinearAlgebra
}
template<typename ScalarType>
Vector3<ScalarType> & Vector3<ScalarType>::operator -= ( const Vector3<ScalarType> &vector )
inline Vector3<ScalarType> & Vector3<ScalarType>::operator -= ( const Vector3<ScalarType> &vector )
{
this->element[0] -= vector.element[0];
this->element[1] -= vector.element[1];
@ -456,7 +495,7 @@ namespace LinearAlgebra
{ return Vector3<ScalarType>(-this->x, -this->y, -this->z); }
template<typename ScalarType>
bool Vector3<ScalarType>::operator == ( const Vector3<ScalarType> &vector ) const
inline bool Vector3<ScalarType>::operator == ( const Vector3<ScalarType> &vector ) const
{
if( this->x != vector.x ) return false;
if( this->y != vector.y ) return false;
@ -465,7 +504,7 @@ namespace LinearAlgebra
}
template<typename ScalarType>
bool Vector3<ScalarType>::operator != ( const Vector3<ScalarType> &vector ) const
inline bool Vector3<ScalarType>::operator != ( const Vector3<ScalarType> &vector ) const
{
if( this->x != vector.x ) return true;
if( this->y != vector.y ) return true;
@ -482,7 +521,7 @@ namespace LinearAlgebra
{ return (ScalarType) ::sqrt( this->Dot(*this) ); }
template<typename ScalarType>
ScalarType Vector3<ScalarType>::Dot( const Vector3<ScalarType> &vector ) const
inline ScalarType Vector3<ScalarType>::Dot( const Vector3<ScalarType> &vector ) const
{
ScalarType value = 0;
value += this->element[0] * vector.element[0];
@ -492,13 +531,28 @@ namespace LinearAlgebra
}
template<typename ScalarType>
Vector3<ScalarType> Vector3<ScalarType>::Cross( const Vector3<ScalarType> &vector ) const
inline Vector3<ScalarType> Vector3<ScalarType>::Cross( const Vector3<ScalarType> &vector ) const
{
return Vector3<ScalarType>( (this->y*vector.z) - (this->z*vector.y),
(this->z*vector.x) - (this->x*vector.z),
(this->x*vector.y) - (this->y*vector.x) );
}
template<typename ScalarType>
inline Vector3<ScalarType> Vector3<ScalarType>::PiecewiseMultiplication( const Vector3<ScalarType> &vector ) const
{
return Vector3<ScalarType>( this->x * vector.x, this->y * vector.y, this->z * vector.z );
}
template<typename ScalarType>
inline Vector3<ScalarType> & Vector3<ScalarType>::PiecewiseMultiplicationAdd( const Vector3<ScalarType> &vector )
{
this->x *= vector.x;
this->y *= vector.y;
this->z *= vector.z;
return *this;
}
template<typename ScalarType>
inline Vector3<ScalarType> & Vector3<ScalarType>::Normalize( )
{ return (*this) /= this->GetLength(); }
@ -516,30 +570,30 @@ namespace LinearAlgebra
template<typename ScalarType> const Vector4<ScalarType> Vector4<ScalarType>::standard_unit_w = Vector4<ScalarType>( 0, 0, 0, 1 );
template<typename ScalarType>
Vector4<ScalarType>::Vector4( ) : x(), y(), z(), w() {}
inline Vector4<ScalarType>::Vector4( ) : x(), y(), z(), w() {}
template<typename ScalarType>
Vector4<ScalarType>::Vector4( const Vector4<ScalarType> &vector )
inline Vector4<ScalarType>::Vector4( const Vector4<ScalarType> &vector )
{ this->x = vector.x; this->y = vector.y; this->z = vector.z; this->w = vector.w; }
template<typename ScalarType>
Vector4<ScalarType>::Vector4( const Vector3<ScalarType> &vector, const ScalarType &_w )
inline Vector4<ScalarType>::Vector4( const Vector3<ScalarType> &vector, const ScalarType &_w )
{ this->x = vector.x; this->y = vector.y; this->z = vector.z; this->w = _w; }
template<typename ScalarType>
Vector4<ScalarType>::Vector4( const Vector2<ScalarType> &vector, const ScalarType &_z, const ScalarType &_w )
inline Vector4<ScalarType>::Vector4( const Vector2<ScalarType> &vector, const ScalarType &_z, const ScalarType &_w )
{ this->x = vector.x; this->y = vector.y; this->z = _z; this->w = _w; }
template<typename ScalarType>
Vector4<ScalarType>::Vector4( const ScalarType &_element )
inline Vector4<ScalarType>::Vector4( const ScalarType &_element )
{ this->x = this->y = this->z = this->w = _element; }
template<typename ScalarType>
Vector4<ScalarType>::Vector4( const ScalarType _element[4] )
inline Vector4<ScalarType>::Vector4( const ScalarType _element[4] )
{ this->x = _element[0]; this->y = _element[1]; this->z = _element[2]; this->w = _element[3]; }
template<typename ScalarType>
Vector4<ScalarType>::Vector4( const ScalarType &_x, const ScalarType &_y, const ScalarType &_z, const ScalarType &_w )
inline Vector4<ScalarType>::Vector4( const ScalarType &_x, const ScalarType &_y, const ScalarType &_z, const ScalarType &_w )
{ this->x = _x; this->y = _y; this->z = _z; this->w = _w; }
template<typename ScalarType>
@ -559,7 +613,7 @@ namespace LinearAlgebra
{ return this->element[i]; }
template<typename ScalarType>
Vector4<ScalarType> & Vector4<ScalarType>::operator = ( const Vector4<ScalarType> &vector )
inline Vector4<ScalarType> & Vector4<ScalarType>::operator = ( const Vector4<ScalarType> &vector )
{
this->element[0] = vector.element[0];
this->element[1] = vector.element[1];
@ -569,7 +623,7 @@ namespace LinearAlgebra
}
template<typename ScalarType>
Vector4<ScalarType> & Vector4<ScalarType>::operator = ( const ScalarType element[4] )
inline Vector4<ScalarType> & Vector4<ScalarType>::operator = ( const ScalarType element[4] )
{
this->element[0] = element[0];
this->element[1] = element[1];
@ -579,7 +633,7 @@ namespace LinearAlgebra
}
template<typename ScalarType>
Vector4<ScalarType> & Vector4<ScalarType>::operator *= ( const ScalarType &scalar )
inline Vector4<ScalarType> & Vector4<ScalarType>::operator *= ( const ScalarType &scalar )
{
this->element[0] *= scalar;
this->element[1] *= scalar;
@ -589,7 +643,7 @@ namespace LinearAlgebra
}
template<typename ScalarType>
Vector4<ScalarType> & Vector4<ScalarType>::operator /= ( const ScalarType &scalar )
inline Vector4<ScalarType> & Vector4<ScalarType>::operator /= ( const ScalarType &scalar )
{
this->element[0] /= scalar;
this->element[1] /= scalar;
@ -599,7 +653,7 @@ namespace LinearAlgebra
}
template<typename ScalarType>
Vector4<ScalarType> & Vector4<ScalarType>::operator += ( const Vector4<ScalarType> &vector )
inline Vector4<ScalarType> & Vector4<ScalarType>::operator += ( const Vector4<ScalarType> &vector )
{
this->element[0] += vector.element[0];
this->element[1] += vector.element[1];
@ -609,7 +663,7 @@ namespace LinearAlgebra
}
template<typename ScalarType>
Vector4<ScalarType> & Vector4<ScalarType>::operator -= ( const Vector4<ScalarType> &vector )
inline Vector4<ScalarType> & Vector4<ScalarType>::operator -= ( const Vector4<ScalarType> &vector )
{
this->element[0] -= vector.element[0];
this->element[1] -= vector.element[1];
@ -639,7 +693,7 @@ namespace LinearAlgebra
{ return Vector4<ScalarType>(-this->x, -this->y, -this->z, -this->w); }
template<typename ScalarType>
bool Vector4<ScalarType>::operator == ( const Vector4<ScalarType> &vector ) const
inline bool Vector4<ScalarType>::operator == ( const Vector4<ScalarType> &vector ) const
{
if( this->x != vector.x ) return false;
if( this->y != vector.y ) return false;
@ -649,7 +703,7 @@ namespace LinearAlgebra
}
template<typename ScalarType>
bool Vector4<ScalarType>::operator != ( const Vector4<ScalarType> &vector ) const
inline bool Vector4<ScalarType>::operator != ( const Vector4<ScalarType> &vector ) const
{
if( this->x != vector.x ) return true;
if( this->y != vector.y ) return true;
@ -667,7 +721,7 @@ namespace LinearAlgebra
{ return (ScalarType) ::sqrt( this->Dot(*this) ); }
template<typename ScalarType>
ScalarType Vector4<ScalarType>::Dot( const Vector4<ScalarType> &vector ) const
inline ScalarType Vector4<ScalarType>::Dot( const Vector4<ScalarType> &vector ) const
{
ScalarType value = 0;
value += this->element[0] * vector.element[0];
@ -677,6 +731,22 @@ namespace LinearAlgebra
return value;
}
template<typename ScalarType>
inline Vector4<ScalarType> Vector4<ScalarType>::PiecewiseMultiplication( const Vector4<ScalarType> &vector ) const
{
return Vector4<ScalarType>( this->x * vector.x, this->y * vector.y, this->z * vector.z, this->w * vector.w );
}
template<typename ScalarType>
inline Vector4<ScalarType> & Vector4<ScalarType>::PiecewiseMultiplicationAdd( const Vector4<ScalarType> &vector )
{
this->x *= vector.x;
this->y *= vector.y;
this->z *= vector.z;
this->w *= vector.w;
return *this;
}
template<typename ScalarType>
inline Vector4<ScalarType> & Vector4<ScalarType>::Normalize( )
{ return (*this) /= this->GetLength(); }
@ -686,4 +756,22 @@ namespace LinearAlgebra
{ return Vector4<ScalarType>(*this).Normalize(); }
}
template<typename ScalarType>
inline ::LinearAlgebra::Vector2<ScalarType> operator * ( const ScalarType &left, const ::LinearAlgebra::Vector2<ScalarType> &right )
{
return right * left;
}
template<typename ScalarType>
inline ::LinearAlgebra::Vector3<ScalarType> operator * ( const ScalarType &left, const ::LinearAlgebra::Vector3<ScalarType> &right )
{
return right * left;
}
template<typename ScalarType>
inline ::LinearAlgebra::Vector4<ScalarType> operator * ( const ScalarType &left, const ::LinearAlgebra::Vector4<ScalarType> &right )
{
return right * left;
}
#endif

5
Code/OysterPhysics3D/Frustrum.cpp
View File

@ -242,3 +242,8 @@ bool Frustrum::Contains( const ICollideable &target ) const
default: return false;
}
}
::Oyster::Math::Float3 Frustrum::ExtractForwad()
{
return this->bottomPlane.normal.xyz;
}

2
Code/OysterPhysics3D/Frustrum.h
View File

@ -41,6 +41,8 @@ namespace Oyster { namespace Collision3D
bool Intersects( const ICollideable &target ) const;
bool Intersects( const ICollideable &target, Oyster::Math::Float4 &worldPointOfContact ) const;
bool Contains( const ICollideable &target ) const;
::Oyster::Math::Float3 ExtractForwad();
};
// INLINE IMPLEMENTATIONS ///////////////////////////////////////

51
Code/OysterPhysics3D/Inertia.cpp Normal file
View File

@ -0,0 +1,51 @@
/********************************************************************
* Created by Dan Andersson 2014
********************************************************************/
#include "Inertia.h"
using namespace ::Oyster::Math3D;
using namespace ::Oyster::Physics3D;
MomentOfInertia::MomentOfInertia()
{
this->rotation = Quaternion::identity;
this->magnitude = Float3( 1.0f );
}
MomentOfInertia::MomentOfInertia( const Quaternion &r, const Float3 &m )
{
this->rotation = r;
this->magnitude = m;
}
MomentOfInertia & MomentOfInertia::operator = ( const MomentOfInertia &i )
{
this->rotation = i.rotation;
this->magnitude = i.magnitude;
return *this;
}
Float3 MomentOfInertia::CalculateAngularVelocity( const Quaternion &externR, const Float3 &h ) const
{
return this->CalculateAngularVelocity( externR, h, Float3() );
}
Float3 & MomentOfInertia::CalculateAngularVelocity( const Quaternion &externR, const Float3 &h, Float3 &targetMem ) const
{ // w = (R * I_R) * I_M^-1 * (R * I_R)^-1 * h
Float4x4 rotation = RotationMatrix( externR ) * RotationMatrix( this->rotation );
Float4 w = rotation.GetInverse() * Float4( h, 0.0f );
return targetMem = rotation * w.PiecewiseMultiplicationAdd( Float4(1.0f / this->magnitude.x, 1.0f / this->magnitude.y, 1.0f / this->magnitude.z, 0.0f) );
}
Float3 MomentOfInertia::CalculateAngularMomentum( const Quaternion &externR, const Float3 &w ) const
{
return this->CalculateAngularMomentum( externR, w, Float3() );
}
Float3 & MomentOfInertia::CalculateAngularMomentum( const Quaternion &externR, const Float3 &w, Float3 &targetMem ) const
{ // h = (R * I_R) * I_M * (R * I_R)^-1 * w
Float4x4 rotation = RotationMatrix( externR ) * RotationMatrix( this->rotation );
Float4 h = rotation.GetInverse() * Float4( w, 0.0f );
return targetMem = rotation * h.PiecewiseMultiplicationAdd( Float4(this->magnitude.x, this->magnitude.y, this->magnitude.z, 0.0f) );
}

119
Code/OysterPhysics3D/Inertia.h Normal file
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@ -0,0 +1,119 @@
/********************************************************************
* Created by Dan Andersson & Robin Engman 2014
********************************************************************/
#ifndef OYSTER_PHYSICS_3D_INERTIA_H
#define OYSTER_PHYSICS_3D_INERTIA_H
#include "OysterMath.h"
namespace Oyster { namespace Physics3D
{
struct MomentOfInertia
{
::Oyster::Math::Quaternion rotation;
::Oyster::Math::Float3 magnitude;
MomentOfInertia();
MomentOfInertia( const ::Oyster::Math::Quaternion &r, const ::Oyster::Math::Float3 &m );
MomentOfInertia & operator = ( const MomentOfInertia &i );
::Oyster::Math::Float3 CalculateAngularVelocity( const ::Oyster::Math::Quaternion &externR, const ::Oyster::Math::Float3 &angularMomentum ) const;
::Oyster::Math::Float3 & CalculateAngularVelocity( const ::Oyster::Math::Quaternion &externR, const ::Oyster::Math::Float3 &angularMomentum, ::Oyster::Math::Float3 &targetMem ) const;
::Oyster::Math::Float3 CalculateAngularMomentum( const ::Oyster::Math::Quaternion &externR, const ::Oyster::Math::Float3 &angularVelocity ) const;
::Oyster::Math::Float3 & CalculateAngularMomentum( const ::Oyster::Math::Quaternion &externR, const ::Oyster::Math::Float3 &angularVelocity, ::Oyster::Math::Float3 &targetMem ) const;
static ::Oyster::Math::Float CalculateSphere( const ::Oyster::Math::Float mass, const ::Oyster::Math::Float radius );
static ::Oyster::Math::Float CalculateHollowSphere( const ::Oyster::Math::Float mass, const ::Oyster::Math::Float radius );
static ::Oyster::Math::Float CalculateCuboidX( const ::Oyster::Math::Float mass, const ::Oyster::Math::Float height, const ::Oyster::Math::Float depth );
static ::Oyster::Math::Float CalculateCuboidY( const ::Oyster::Math::Float mass, const ::Oyster::Math::Float width, const ::Oyster::Math::Float depth );
static ::Oyster::Math::Float CalculateCuboidZ( const ::Oyster::Math::Float mass, const ::Oyster::Math::Float width, const ::Oyster::Math::Float height );
static ::Oyster::Math::Float CalculateRodCenter( const ::Oyster::Math::Float mass, const ::Oyster::Math::Float length );
static ::Oyster::Math::Float CalculateCylinderXY( const ::Oyster::Math::Float mass, const ::Oyster::Math::Float height, const ::Oyster::Math::Float radius );
static ::Oyster::Math::Float CalculateCylinderZ( const ::Oyster::Math::Float mass, const ::Oyster::Math::Float radius );
static MomentOfInertia Sphere( const ::Oyster::Math::Float mass, const ::Oyster::Math::Float radius );
static MomentOfInertia HollowSphere( const ::Oyster::Math::Float mass, const ::Oyster::Math::Float radius );
static MomentOfInertia Cuboid( const ::Oyster::Math::Float mass, const ::Oyster::Math::Float height, const ::Oyster::Math::Float width, const ::Oyster::Math::Float depth );
static MomentOfInertia RodCenter( const ::Oyster::Math::Float mass, const ::Oyster::Math::Float length );
static MomentOfInertia Cylinder( const ::Oyster::Math::Float mass, const ::Oyster::Math::Float height, const ::Oyster::Math::Float radius );
};
inline ::Oyster::Math::Float MomentOfInertia::CalculateSphere( const ::Oyster::Math::Float mass, const ::Oyster::Math::Float radius )
{
return (2.0f / 5.0f) * mass * radius * radius;
}
inline ::Oyster::Math::Float MomentOfInertia::CalculateHollowSphere( const ::Oyster::Math::Float mass, const ::Oyster::Math::Float radius )
{
return (2.0f / 3.0f) * mass * radius * radius;
}
inline ::Oyster::Math::Float MomentOfInertia::CalculateCuboidX( const ::Oyster::Math::Float mass, const ::Oyster::Math::Float height, const ::Oyster::Math::Float depth )
{
return (1.0f / 12.0f) * mass * (height * height + depth * depth);
}
inline ::Oyster::Math::Float MomentOfInertia::CalculateCuboidY( const ::Oyster::Math::Float mass, const ::Oyster::Math::Float width, const ::Oyster::Math::Float depth )
{
return (1.0f / 12.0f) * mass * (width * width + depth * depth);
}
inline ::Oyster::Math::Float MomentOfInertia::CalculateCuboidZ( const ::Oyster::Math::Float mass, const ::Oyster::Math::Float width, const ::Oyster::Math::Float height )
{
return (1.0f / 12.0f) * mass * (height * height + width * width);
}
inline ::Oyster::Math::Float MomentOfInertia::CalculateRodCenter( const ::Oyster::Math::Float mass, const ::Oyster::Math::Float length )
{
return (1.0f / 12.0f) * mass * length * length;
}
inline ::Oyster::Math::Float MomentOfInertia::CalculateCylinderXY( const ::Oyster::Math::Float mass, const ::Oyster::Math::Float height, const ::Oyster::Math::Float radius )
{
return (1.0f / 12.0f) * mass * (3.0f * radius * radius + height * height);
}
inline ::Oyster::Math::Float MomentOfInertia::CalculateCylinderZ( const ::Oyster::Math::Float mass, const ::Oyster::Math::Float radius )
{
return 0.5f * mass * radius * radius;
}
inline MomentOfInertia MomentOfInertia::Sphere( const ::Oyster::Math::Float mass, const ::Oyster::Math::Float radius )
{
return MomentOfInertia( ::Oyster::Math::Quaternion::identity,
::Oyster::Math::Float3(MomentOfInertia::CalculateSphere(mass, radius)) );
}
inline MomentOfInertia MomentOfInertia::HollowSphere( const ::Oyster::Math::Float mass, const ::Oyster::Math::Float radius )
{
return MomentOfInertia( ::Oyster::Math::Quaternion::identity,
::Oyster::Math::Float3(MomentOfInertia::CalculateHollowSphere(mass, radius)) );
}
inline MomentOfInertia MomentOfInertia::Cuboid( const ::Oyster::Math::Float mass, const ::Oyster::Math::Float height, const ::Oyster::Math::Float width, const ::Oyster::Math::Float depth )
{
return MomentOfInertia( ::Oyster::Math::Quaternion::identity,
::Oyster::Math::Float3(MomentOfInertia::CalculateCuboidX(mass, height, depth),
MomentOfInertia::CalculateCuboidY(mass, width, depth),
MomentOfInertia::CalculateCuboidZ(mass, height, width)) );
}
inline MomentOfInertia MomentOfInertia::RodCenter( const ::Oyster::Math::Float mass, const ::Oyster::Math::Float length )
{
return MomentOfInertia( ::Oyster::Math::Quaternion::identity,
::Oyster::Math::Float3(MomentOfInertia::CalculateRodCenter(mass , length)) );
}
inline MomentOfInertia MomentOfInertia::Cylinder( const ::Oyster::Math::Float mass, const ::Oyster::Math::Float height, const ::Oyster::Math::Float radius )
{
::Oyster::Math::Float cylinderXY = MomentOfInertia::CalculateCylinderXY( mass , height, radius );
return MomentOfInertia( ::Oyster::Math::Quaternion::identity,
::Oyster::Math::Float3(cylinderXY, cylinderXY,
MomentOfInertia::CalculateCylinderZ(mass, radius)) );
}
} }
#endif

2
Code/OysterPhysics3D/OysterPhysics3D.vcxproj
View File

@ -155,6 +155,7 @@
<ClInclude Include="FluidDrag.h" />
<ClInclude Include="Frustrum.h" />
<ClInclude Include="ICollideable.h" />
<ClInclude Include="Inertia.h" />
<ClInclude Include="Line.h" />
<ClInclude Include="OysterCollision3D.h" />
<ClInclude Include="OysterPhysics3D.h" />
@ -174,6 +175,7 @@
<ClCompile Include="FluidDrag.cpp" />
<ClCompile Include="Frustrum.cpp" />
<ClCompile Include="ICollideable.cpp" />
<ClCompile Include="Inertia.cpp" />
<ClCompile Include="Line.cpp" />
<ClCompile Include="OysterCollision3D.cpp" />
<ClCompile Include="Particle.cpp" />

6
Code/OysterPhysics3D/OysterPhysics3D.vcxproj.filters
View File

@ -78,6 +78,9 @@
<ClInclude Include="RigidBody_Inline.h">
<Filter>Header Files\Physics</Filter>
</ClInclude>
<ClInclude Include="Inertia.h">
<Filter>Header Files\Physics</Filter>
</ClInclude>
</ItemGroup>
<ItemGroup>
<ClCompile Include="Box.cpp">
@ -125,5 +128,8 @@
<ClCompile Include="Particle.cpp">
<Filter>Source Files\Physics</Filter>
</ClCompile>
<ClCompile Include="Inertia.cpp">
<Filter>Source Files\Physics</Filter>
</ClCompile>
</ItemGroup>
</Project>

106
Code/OysterPhysics3D/RigidBody.cpp
View File

@ -23,7 +23,7 @@ RigidBody::RigidBody( )
this->frictionCoeff_Static = 0.5f;
this->frictionCoeff_Kinetic = 1.0f;
this->mass = 10;
this->momentOfInertiaTensor = Float4x4::identity;
this->momentOfInertiaTensor = MomentOfInertia();
this->rotation = Quaternion::identity;
}
@ -53,15 +53,16 @@ void RigidBody::Update_LeapFrog( Float updateFrameLength )
this->centerPos += ( updateFrameLength / this->mass ) * AverageWithDelta( this->momentum_Linear, this->impulse_Linear );
// updating the angular
Float4x4 rotationMatrix; ::Oyster::Math3D::RotationMatrix( this->rotation, rotationMatrix );
//Float4x4 rotationMatrix; ::Oyster::Math3D::RotationMatrix( this->rotation, rotationMatrix );
// Important! The member data is all world data except the Inertia tensor. Thus a new InertiaTensor needs to be created to be compatible with the rest of the world data.
Float4x4 wMomentOfInertiaTensor = TransformMatrix( rotationMatrix, this->momentOfInertiaTensor ); // RI
//Float4x4 wMomentOfInertiaTensor = TransformMatrix( rotationMatrix, this->momentOfInertiaTensor ); // RI
// dO = dt * Formula::AngularVelocity( (RI)^-1, avg_H ) = dt * (RI)^-1 * avg_H
//! HACK: @todo Rotation temporary disabled
//this->axis += Radian( Formula::AngularVelocity(wMomentOfInertiaTensor.GetInverse(), AverageWithDelta(this->momentum_Angular, this->impulse_Angular)) );
//this->rotation = Rotation( this->axis );
this->axis += this->momentOfInertiaTensor.CalculateAngularVelocity( this->rotation, AverageWithDelta(this->momentum_Angular, this->impulse_Angular) );
this->rotation = Rotation( this->axis );
// update momentums and clear impulse_Linear and impulse_Angular
this->momentum_Linear += this->impulse_Linear;
@ -71,31 +72,32 @@ void RigidBody::Update_LeapFrog( Float updateFrameLength )
this->impulse_Angular = Float4::null;
}
void RigidBody::Predict_LeapFrog( Float4 &outDeltaPos, Float4 &outDeltaAxis, const Float4 &actingLinearImpulse, const Float4 &actingAngularImpulse, Float deltaTime )
void RigidBody::Predict_LeapFrog( Float3 &outDeltaPos, Float3 &outDeltaAxis, const Float3 &actingLinearImpulse, const Float3 &actingAngularImpulse, Float deltaTime )
{
// updating the linear
// ds = dt * Formula::LinearVelocity( m, avg_G ) = dt * avg_G / m = (dt / m) * avg_G
outDeltaPos = ( deltaTime / this->mass ) * AverageWithDelta( this->momentum_Linear, actingLinearImpulse );
// updating the angular
Float4x4 rotationMatrix; ::Oyster::Math3D::RotationMatrix( this->rotation, rotationMatrix );
Float4x4 wMomentOfInertiaTensor = TransformMatrix( rotationMatrix, this->momentOfInertiaTensor ); // RI
//Float4x4 rotationMatrix; ::Oyster::Math3D::RotationMatrix( this->rotation, rotationMatrix );
//Float4x4 wMomentOfInertiaTensor = TransformMatrix( rotationMatrix, this->momentOfInertiaTensor ); // RI
// dO = dt * Formula::AngularVelocity( (RI)^-1, avg_H ) = dt * (RI)^-1 * avg_H
outDeltaAxis = Formula::AngularVelocity( wMomentOfInertiaTensor.GetInverse(), AverageWithDelta(this->momentum_Angular, actingAngularImpulse) );
//outDeltaAxis = Formula::AngularVelocity( wMomentOfInertiaTensor.GetInverse(), AverageWithDelta(this->momentum_Angular, actingAngularImpulse) );
outDeltaAxis = this->momentOfInertiaTensor.CalculateAngularVelocity( this->rotation, AverageWithDelta(this->momentum_Angular, this->impulse_Angular) );
}
void RigidBody::Move( const Float4 &deltaPos, const Float4 &deltaAxis )
void RigidBody::Move( const Float3 &deltaPos, const Float3 &deltaAxis )
{
this->centerPos += deltaPos;
this->axis += deltaAxis;
this->rotation = Rotation( this->axis );
}
void RigidBody::ApplyImpulse( const Float4 &worldJ, const Float4 &atWorldPos )
void RigidBody::ApplyImpulse( const Float3 &worldJ, const Float3 &atWorldPos )
{ // by Dan Andersson
Float4 worldOffset = atWorldPos - this->centerPos;
if( worldOffset != Float4::null )
Float3 worldOffset = atWorldPos - this->centerPos;
if( worldOffset != Float3::null )
{
this->impulse_Linear += VectorProjection( worldJ, atWorldPos );
this->impulse_Angular += Formula::ImpulseTorque( worldJ, atWorldPos );
@ -106,7 +108,7 @@ void RigidBody::ApplyImpulse( const Float4 &worldJ, const Float4 &atWorldPos )
}
}
const Float4x4 & RigidBody::GetMomentOfInertia() const
const MomentOfInertia & RigidBody::GetMomentOfInertia() const
{ // by Dan Andersson
return this->momentOfInertiaTensor;
}
@ -116,7 +118,7 @@ Float RigidBody::GetMass() const
return this->mass;
}
const Quaternion & RigidBody::GetRotation() const
const Quaternion & RigidBody::GetRotationQuaternion() const
{ // by Dan Andersson
return this->rotation;
}
@ -136,46 +138,38 @@ Float4x4 RigidBody::GetView() const
return ViewMatrix( this->rotation, this->centerPos );
}
Float4 RigidBody::GetVelocity_Linear() const
Float3 RigidBody::GetVelocity_Linear() const
{ // by Dan Andersson
return Formula::LinearVelocity( this->mass, this->momentum_Linear );
}
Float4 RigidBody::GetVelocity_Angular() const
Float3 RigidBody::GetVelocity_Angular() const
{ // by Dan Andersson
return Formula::AngularVelocity( this->momentOfInertiaTensor.GetInverse(), this->momentum_Angular );
return this->momentOfInertiaTensor.CalculateAngularVelocity( this->rotation, this->momentum_Angular );
}
Float4 RigidBody::GetLinearMomentum( const Float4 &atWorldPos ) const
Float3 RigidBody::GetLinearMomentum( const Float3 &atWorldPos ) const
{ // by Dan Andersson
return this->momentum_Linear + Formula::TangentialLinearMomentum( this->momentum_Angular, atWorldPos - this->centerPos );
}
void RigidBody::SetMomentOfInertia_KeepVelocity( const Float4x4 &localTensorI )
void RigidBody::SetMomentOfInertia_KeepVelocity( const MomentOfInertia &localTensorI )
{ // by Dan Andersson
if( localTensorI.GetDeterminant() != 0.0f )
{ // insanity check! MomentOfInertiaTensor must be invertable
Float4x4 rotationMatrix; RotationMatrix( this->rotation, rotationMatrix );
Float4 w = Formula::AngularVelocity( (rotationMatrix * this->momentOfInertiaTensor).GetInverse(), this->momentum_Angular );
this->momentOfInertiaTensor = localTensorI;
this->momentum_Angular = Formula::AngularMomentum( rotationMatrix * localTensorI, w );
}
Float3 w = this->momentOfInertiaTensor.CalculateAngularVelocity( this->rotation, this->momentum_Angular );
this->momentOfInertiaTensor = localTensorI;
this->momentum_Angular = this->momentOfInertiaTensor.CalculateAngularVelocity( this->rotation, w );
}
void RigidBody::SetMomentOfInertia_KeepMomentum( const Float4x4 &localTensorI )
void RigidBody::SetMomentOfInertia_KeepMomentum( const MomentOfInertia &localTensorI )
{ // by Dan Andersson
if( localTensorI.GetDeterminant() != 0.0f )
{ // insanity check! MomentOfInertiaTensor must be invertable
this->momentOfInertiaTensor = localTensorI;
}
this->momentOfInertiaTensor = localTensorI;
}
void RigidBody::SetMass_KeepVelocity( const Float &m )
{ // by Dan Andersson
if( m != 0.0f )
{ // insanity check! Mass must be invertable
Float4 v = Formula::LinearVelocity( this->mass, this->momentum_Linear );
Float3 v = Formula::LinearVelocity( this->mass, this->momentum_Linear );
this->mass = m;
this->momentum_Linear = Formula::LinearMomentum( this->mass, v );
}
@ -189,46 +183,46 @@ void RigidBody::SetMass_KeepMomentum( const Float &m )
}
}
void RigidBody::SetOrientation( const Float4x4 &o )
{ // by Dan Andersson
this->axis = ExtractAngularAxis( o );
this->rotation = Rotation( this->axis );
this->centerPos = o.v[3].xyz;
}
//void RigidBody::SetOrientation( const Float4x4 &o )
//{ // by Dan Andersson
// this->axis = ExtractAngularAxis( o );
// this->rotation = Rotation( this->axis );
// this->centerPos = o.v[3].xyz;
//}
//
//void RigidBody::SetRotation( const Float4x4 &r )
//{ // by Dan Andersson
// this->axis = ExtractAngularAxis( r );
// this->rotation = Rotation( this->axis );
//}
void RigidBody::SetRotation( const Float4x4 &r )
void RigidBody::SetMomentum_Linear( const Float3 &worldG, const Float3 &atWorldPos )
{ // by Dan Andersson
this->axis = ExtractAngularAxis( r );
this->rotation = Rotation( this->axis );
}
void RigidBody::SetMomentum_Linear( const Float4 &worldG, const Float4 &atWorldPos )
{ // by Dan Andersson
Float4 worldOffset = atWorldPos - this->centerPos;
Float3 worldOffset = atWorldPos - this->centerPos;
this->momentum_Linear = VectorProjection( worldG, worldOffset );
this->momentum_Angular = Formula::AngularMomentum( worldG, worldOffset );
}
void RigidBody::SetVelocity_Linear( const Float4 &worldV )
void RigidBody::SetVelocity_Linear( const Float3 &worldV )
{ // by Dan Andersson
this->momentum_Linear = Formula::LinearMomentum( this->mass, worldV );
}
void RigidBody::SetVelocity_Linear( const Float4 &worldV, const Float4 &atWorldPos )
void RigidBody::SetVelocity_Linear( const Float3 &worldV, const Float3 &atWorldPos )
{ // by Dan Andersson
Float4 worldOffset = atWorldPos - this->centerPos;
this->momentum_Linear = Formula::LinearMomentum( this->mass, VectorProjection(worldV, worldOffset) );
this->momentum_Angular = Formula::AngularMomentum( RotationMatrix(this->rotation) * this->momentOfInertiaTensor, Formula::AngularVelocity(worldV, worldOffset) );
Float3 worldOffset = atWorldPos - this->centerPos;
this->momentum_Linear = Formula::LinearMomentum( this->mass, VectorProjection(worldV, worldOffset) );
this->momentum_Angular = this->momentOfInertiaTensor.CalculateAngularMomentum( this->rotation, Formula::AngularVelocity(worldV, worldOffset) );
}
void RigidBody::SetVelocity_Angular( const Float4 &worldW )
void RigidBody::SetVelocity_Angular( const Float3 &worldW )
{ // by Dan Andersson
this->momentum_Angular = Formula::AngularMomentum( this->momentOfInertiaTensor, worldW );
this->momentum_Angular = this->momentOfInertiaTensor.CalculateAngularMomentum( this->rotation, worldW );
}
void RigidBody::SetImpulse_Linear( const Float4 &worldJ, const Float4 &atWorldPos )
void RigidBody::SetImpulse_Linear( const Float3 &worldJ, const Float3 &atWorldPos )
{ // by Dan Andersson
Float4 worldOffset = atWorldPos - this->centerPos;
Float3 worldOffset = atWorldPos - this->centerPos;
this->impulse_Linear = VectorProjection( worldJ, worldOffset );
this->impulse_Angular = Formula::ImpulseTorque( worldJ, worldOffset );
}

71
Code/OysterPhysics3D/RigidBody.h
View File

@ -8,19 +8,21 @@
#include "OysterMath.h"
#include "OysterCollision3D.h"
#include "OysterPhysics3D.h"
#include "Inertia.h"
namespace Oyster { namespace Physics3D
{
struct RigidBody
{ //! A struct of a simple rigid body.
public:
::Oyster::Math::Float4 centerPos, //!< Location of the body's center in the world.
::Oyster::Math::Float3 centerPos, //!< Location of the body's center in the world.
axis, //!< Euler rotationAxis of the body.
boundingReach, //!<
momentum_Linear, //!< The linear momentum G (kg*m/s).
momentum_Angular, //!< The angular momentum H (Nm*s) around an parallell axis.
impulse_Linear, //!< The linear impulse sum Jl (kg*m/s) that will be consumed each update.
impulse_Angular; //!< The angular impulse sum Ja (kg*m^2/s) that will be consumed each update.
impulse_Angular, //!< The angular impulse sum Ja (kg*m^2/s) that will be consumed each update.
gravityNormal;
::Oyster::Math::Float restitutionCoeff, //!<
frictionCoeff_Static, //!<
frictionCoeff_Kinetic; //!<
@ -30,54 +32,55 @@ namespace Oyster { namespace Physics3D
RigidBody & operator = ( const RigidBody &body );
void Update_LeapFrog( ::Oyster::Math::Float updateFrameLength );
void Predict_LeapFrog( ::Oyster::Math::Float4 &outDeltaPos, ::Oyster::Math::Float4 &outDeltaAxis, const ::Oyster::Math::Float4 &actingLinearImpulse, const ::Oyster::Math::Float4 &actingAngularImpulse, ::Oyster::Math::Float deltaTime );
void Predict_LeapFrog( ::Oyster::Math::Float3 &outDeltaPos, ::Oyster::Math::Float3 &outDeltaAxis, const ::Oyster::Math::Float3 &actingLinearImpulse, const ::Oyster::Math::Float3 &actingAngularImpulse, ::Oyster::Math::Float deltaTime );
void Move( const ::Oyster::Math::Float4 &deltaPos, const ::Oyster::Math::Float4 &deltaAxis );
void ApplyImpulse( const ::Oyster::Math::Float4 &worldJ, const ::Oyster::Math::Float4 &atWorldPos );
void ApplyImpulse_Linear( const ::Oyster::Math::Float4 &worldJ );
void ApplyImpulse_Angular( const ::Oyster::Math::Float4 &worldJ );
void ApplyForce( const ::Oyster::Math::Float4 &worldF, ::Oyster::Math::Float updateFrameLength );
void ApplyForce( const ::Oyster::Math::Float4 &worldF, ::Oyster::Math::Float updateFrameLength, const ::Oyster::Math::Float4 &atWorldPos );
void Move( const ::Oyster::Math::Float3 &deltaPos, const ::Oyster::Math::Float3 &deltaAxis );
void ApplyImpulse( const ::Oyster::Math::Float3 &worldJ, const ::Oyster::Math::Float3 &atWorldPos );
void ApplyImpulse_Linear( const ::Oyster::Math::Float3 &worldJ );
void ApplyImpulse_Angular( const ::Oyster::Math::Float3 &worldJ );
void ApplyForce( const ::Oyster::Math::Float3 &worldF, ::Oyster::Math::Float updateFrameLength );
void ApplyForce( const ::Oyster::Math::Float3 &worldF, ::Oyster::Math::Float updateFrameLength, const ::Oyster::Math::Float3 &atWorldPos );
// GET METHODS ////////////////////////////////
const ::Oyster::Math::Float4x4 & GetMomentOfInertia() const;
::Oyster::Math::Float GetMass() const;
const ::Oyster::Math::Quaternion & GetRotation() const;
::Oyster::Math::Float4x4 GetRotationMatrix() const;
::Oyster::Math::Float4x4 GetOrientation() const;
::Oyster::Math::Float4x4 GetView() const;
::Oyster::Math::Float4x4 GetToWorldMatrix() const;
::Oyster::Math::Float4x4 GetToLocalMatrix() const;
::Oyster::Math::Float4 GetSize() const;
::Oyster::Math::Float4 GetVelocity_Linear() const;
::Oyster::Math::Float4 GetVelocity_Angular() const;
::Oyster::Math::Float4 GetLinearMomentum( const ::Oyster::Math::Float4 &atWorldPos ) const;
const ::Oyster::Physics3D::MomentOfInertia & GetMomentOfInertia() const;
::Oyster::Math::Float GetMass() const;
const ::Oyster::Math::Quaternion & GetRotationQuaternion() const;
::Oyster::Math::Float4x4 GetRotationMatrix() const;
::Oyster::Math::Float4x4 GetOrientation() const;
::Oyster::Math::Float4x4 GetView() const;
::Oyster::Math::Float4x4 GetToWorldMatrix() const;
::Oyster::Math::Float4x4 GetToLocalMatrix() const;
::Oyster::Math::Float3 GetSize() const;
::Oyster::Math::Float3 GetVelocity_Linear() const;
::Oyster::Math::Float3 GetVelocity_Angular() const;
::Oyster::Math::Float3 GetLinearMomentum( const ::Oyster::Math::Float3 &atWorldPos ) const;
// SET METHODS ////////////////////////////////
void SetMomentOfInertia_KeepVelocity( const ::Oyster::Math::Float4x4 &localTensorI );
void SetMomentOfInertia_KeepMomentum( const ::Oyster::Math::Float4x4 &localTensorI );
void SetMomentOfInertia_KeepVelocity( const ::Oyster::Physics3D::MomentOfInertia &localTensorI );
void SetMomentOfInertia_KeepMomentum( const ::Oyster::Physics3D::MomentOfInertia &localTensorI );
void SetMass_KeepVelocity( const ::Oyster::Math::Float &m );
void SetMass_KeepMomentum( const ::Oyster::Math::Float &m );
void SetOrientation( const ::Oyster::Math::Float4x4 &o );
void SetRotation( const ::Oyster::Math::Float4x4 &r );
void SetSize( const ::Oyster::Math::Float4 &widthHeight );
//void SetOrientation( const ::Oyster::Math::Float4x4 &o );
//void SetRotation( const ::Oyster::Math::Float4x4 &r );
void SetSize( const ::Oyster::Math::Float3 &widthHeight );
void SetMomentum_Linear( const ::Oyster::Math::Float4 &worldG, const ::Oyster::Math::Float4 &atWorldPos );
void SetMomentum_Linear( const ::Oyster::Math::Float3 &worldG, const ::Oyster::Math::Float3 &atWorldPos );
void SetVelocity_Linear( const ::Oyster::Math::Float4 &worldV );
void SetVelocity_Linear( const ::Oyster::Math::Float4 &worldV, const ::Oyster::Math::Float4 &atWorldPos );
void SetVelocity_Angular( const ::Oyster::Math::Float4 &worldW );
void SetVelocity_Linear( const ::Oyster::Math::Float3 &worldV );
void SetVelocity_Linear( const ::Oyster::Math::Float3 &worldV, const ::Oyster::Math::Float3 &atWorldPos );
void SetVelocity_Angular( const ::Oyster::Math::Float3 &worldW );
void SetImpulse_Linear( const ::Oyster::Math::Float4 &worldJ, const ::Oyster::Math::Float4 &atWorldPos );
void SetForce( const ::Oyster::Math::Float4 &worldF, ::Oyster::Math::Float updateFrameLength );
void SetForce( const ::Oyster::Math::Float4 &worldF, ::Oyster::Math::Float updateFrameLength, const ::Oyster::Math::Float4 &atWorldPos );
void SetImpulse_Linear( const ::Oyster::Math::Float3 &worldJ, const ::Oyster::Math::Float3 &atWorldPos );
//void SetForce( const ::Oyster::Math::Float3 &worldF, ::Oyster::Math::Float updateFrameLength );
//void SetForce( const ::Oyster::Math::Float3 &worldF, ::Oyster::Math::Float updateFrameLength, const ::Oyster::Math::Float3 &atWorldPos );
private:
::Oyster::Math::Float mass; //!< m (kg)
::Oyster::Math::Float4x4 momentOfInertiaTensor; //!< I (Nm*s) Tensor matrix ( only need to be 3x3 matrix, but is 4x4 for future hardware acceleration ) (localValue)
//::Oyster::Math::Float4x4 momentOfInertiaTensor; //!< I (Nm*s) Tensor matrix ( only need to be 3x3 matrix, but is 4x4 for future hardware acceleration ) (localValue)
::Oyster::Physics3D::MomentOfInertia momentOfInertiaTensor;
::Oyster::Math::Quaternion rotation; //!< RotationAxis of the body.
};
} }

29
Code/OysterPhysics3D/RigidBody_Inline.h
View File

@ -10,22 +10,22 @@
namespace Oyster { namespace Physics3D
{
inline void RigidBody::ApplyImpulse_Linear( const ::Oyster::Math::Float4 &worldJ )
inline void RigidBody::ApplyImpulse_Linear( const ::Oyster::Math::Float3 &worldJ )
{
this->impulse_Linear += worldJ;
}
inline void RigidBody::ApplyImpulse_Angular( const ::Oyster::Math::Float4 &worldJ )
inline void RigidBody::ApplyImpulse_Angular( const ::Oyster::Math::Float3 &worldJ )
{
this->impulse_Angular += worldJ;
}
inline void RigidBody::ApplyForce( const ::Oyster::Math::Float4 &worldF, ::Oyster::Math::Float updateFrameLength )
inline void RigidBody::ApplyForce( const ::Oyster::Math::Float3 &worldF, ::Oyster::Math::Float updateFrameLength )
{
this->impulse_Linear += worldF * updateFrameLength;
}
inline void RigidBody::ApplyForce( const ::Oyster::Math::Float4 &worldF, ::Oyster::Math::Float updateFrameLength, const ::Oyster::Math::Float4 &atWorldPos )
inline void RigidBody::ApplyForce( const ::Oyster::Math::Float3 &worldF, ::Oyster::Math::Float updateFrameLength, const ::Oyster::Math::Float3 &atWorldPos )
{
this->ApplyImpulse( worldF * updateFrameLength, atWorldPos );
}
@ -40,26 +40,25 @@ namespace Oyster { namespace Physics3D
return this->GetView();
}
inline ::Oyster::Math::Float4 RigidBody::GetSize() const
inline ::Oyster::Math::Float3 RigidBody::GetSize() const
{
return 2.0f * this->boundingReach;
}
inline void RigidBody::SetSize( const ::Oyster::Math::Float4 &widthHeight )
inline void RigidBody::SetSize( const ::Oyster::Math::Float3 &widthHeight )
{
this->boundingReach = ::Utility::Value::Abs( 0.5f * widthHeight );
}
inline void RigidBody::SetForce( const ::Oyster::Math::Float4 &worldF, ::Oyster::Math::Float updateFrameLength )
{
this->impulse_Linear = worldF * updateFrameLength;
}
inline void RigidBody::SetForce( const ::Oyster::Math::Float4 &worldF, ::Oyster::Math::Float updateFrameLength, const ::Oyster::Math::Float4 &atWorldPos )
{
this->SetImpulse_Linear( worldF * updateFrameLength, atWorldPos );
}
//inline void RigidBody::SetForce( const ::Oyster::Math::Float3 &worldF, ::Oyster::Math::Float updateFrameLength )
//{
// this->impulse_Linear = worldF * updateFrameLength;
//}
//inline void RigidBody::SetForce( const ::Oyster::Math::Float3 &worldF, ::Oyster::Math::Float updateFrameLength, const ::Oyster::Math::Float3 &atWorldPos )
//{
// this->SetImpulse_Linear( worldF * updateFrameLength, atWorldPos );
//}
} }
#endif