From c854b1af587383ca6779ecf23cb481b2b4524d45 Mon Sep 17 00:00:00 2001 From: Dander7BD Date: Mon, 16 Dec 2013 08:58:15 +0100 Subject: [PATCH 01/42] Stuff --- Code/GamePhysics/GamePhysics.vcxproj | 2 + Code/GamePhysics/GamePhysics.vcxproj.filters | 6 +++ .../Implementation/PhysicsAPI_Impl.cpp | 26 ----------- .../Implementation/SphericalRigidBody.cpp | 2 +- Code/GamePhysics/PhysicsAPI.h | 15 +----- Code/GamePhysics/PhysicsFormula-Impl.h | 46 +++++++++++++++++++ Code/GamePhysics/PhysicsFormula.h | 27 +++++++++++ 7 files changed, 83 insertions(+), 41 deletions(-) create mode 100644 Code/GamePhysics/PhysicsFormula-Impl.h create mode 100644 Code/GamePhysics/PhysicsFormula.h diff --git a/Code/GamePhysics/GamePhysics.vcxproj b/Code/GamePhysics/GamePhysics.vcxproj index 06e64fd1..1abcc6f8 100644 --- a/Code/GamePhysics/GamePhysics.vcxproj +++ b/Code/GamePhysics/GamePhysics.vcxproj @@ -166,6 +166,8 @@ + + diff --git a/Code/GamePhysics/GamePhysics.vcxproj.filters b/Code/GamePhysics/GamePhysics.vcxproj.filters index 15221691..aa3cbd73 100644 --- a/Code/GamePhysics/GamePhysics.vcxproj.filters +++ b/Code/GamePhysics/GamePhysics.vcxproj.filters @@ -42,6 +42,12 @@ Header Files\Include + + Header Files\Include + + + Header Files\Include + diff --git a/Code/GamePhysics/Implementation/PhysicsAPI_Impl.cpp b/Code/GamePhysics/Implementation/PhysicsAPI_Impl.cpp index 46b3369c..d01d95f7 100644 --- a/Code/GamePhysics/Implementation/PhysicsAPI_Impl.cpp +++ b/Code/GamePhysics/Implementation/PhysicsAPI_Impl.cpp @@ -4,7 +4,6 @@ #include "SphericalRigidBody.h" using namespace ::Oyster::Physics; -using namespace ::Oyster::Physics3D; using namespace ::Oyster::Math; using namespace ::Oyster::Collision3D; using namespace ::Utility::DynamicMemory; @@ -27,31 +26,6 @@ namespace } } -Float4x4 & MomentOfInertia::CreateSphereMatrix( const Float mass, const Float radius, ::Oyster::Math::Float4x4 &targetMem ) -{ - return targetMem = Formula::MomentOfInertia::Sphere(mass, radius); -} - -Float4x4 & MomentOfInertia::CreateHollowSphereMatrix( const Float mass, const Float radius, ::Oyster::Math::Float4x4 &targetMem ) -{ - return targetMem = Formula::MomentOfInertia::HollowSphere(mass, radius); -} - -Float4x4 & MomentOfInertia::CreateCuboidMatrix( const Float mass, const Float height, const Float width, const Float depth, ::Oyster::Math::Float4x4 &targetMem ) -{ - return targetMem = Formula::MomentOfInertia::Cuboid(mass, height, width, depth); -} - -Float4x4 & MomentOfInertia::CreateCylinderMatrix( const Float mass, const Float height, const Float radius, ::Oyster::Math::Float4x4 &targetMem ) -{ - return targetMem = Formula::MomentOfInertia::Cylinder(mass, height, radius); -} - -Float4x4 & MomentOfInertia::CreateRodMatrix( const Float mass, const Float length, ::Oyster::Math::Float4x4 &targetMem ) -{ - return targetMem = Formula::MomentOfInertia::RodCenter(mass, length); -} - API & API::Instance() { return API_instance; diff --git a/Code/GamePhysics/Implementation/SphericalRigidBody.cpp b/Code/GamePhysics/Implementation/SphericalRigidBody.cpp index 364d7454..ce31456e 100644 --- a/Code/GamePhysics/Implementation/SphericalRigidBody.cpp +++ b/Code/GamePhysics/Implementation/SphericalRigidBody.cpp @@ -21,7 +21,7 @@ SphericalRigidBody::SphericalRigidBody( const API::SphericalBodyDescription &des { this->rigid = RigidBody( Box( desc.rotation, desc.centerPosition, Float3(2.0f * desc.radius) ), desc.mass, - MomentOfInertia::CreateSphereMatrix( desc.mass, desc.radius ) ); + Formula::MomentOfInertia::CreateSphereMatrix( desc.mass, desc.radius ) ); this->gravityNormal = Float3::null; if( desc.subscription ) diff --git a/Code/GamePhysics/PhysicsAPI.h b/Code/GamePhysics/PhysicsAPI.h index 84a3d639..6c43a754 100644 --- a/Code/GamePhysics/PhysicsAPI.h +++ b/Code/GamePhysics/PhysicsAPI.h @@ -35,20 +35,6 @@ namespace Oyster const float gravity_constant = (const float)6.67284e-11; //!< The _big_G_! ( N(m/kg)^2 ) Used in real gravityforcefields. } - class PHYSICS_DLL_USAGE MomentOfInertia - { - public: - static ::Oyster::Math::Float4x4 & CreateSphereMatrix( const ::Oyster::Math::Float mass, const ::Oyster::Math::Float radius, ::Oyster::Math::Float4x4 &targetMem = ::Oyster::Math::Float4x4() ); - - static ::Oyster::Math::Float4x4 & CreateHollowSphereMatrix( const ::Oyster::Math::Float mass, const ::Oyster::Math::Float radius, ::Oyster::Math::Float4x4 &targetMem = ::Oyster::Math::Float4x4() ); - - static ::Oyster::Math::Float4x4 & CreateCuboidMatrix( const ::Oyster::Math::Float mass, const ::Oyster::Math::Float height, const ::Oyster::Math::Float width, const ::Oyster::Math::Float depth, ::Oyster::Math::Float4x4 &targetMem = ::Oyster::Math::Float4x4() ); - - static ::Oyster::Math::Float4x4 & CreateCylinderMatrix( const ::Oyster::Math::Float mass, const ::Oyster::Math::Float height, const ::Oyster::Math::Float radius, ::Oyster::Math::Float4x4 &targetMem = ::Oyster::Math::Float4x4() ); - - static ::Oyster::Math::Float4x4 & CreateRodMatrix( const ::Oyster::Math::Float mass, const ::Oyster::Math::Float length, ::Oyster::Math::Float4x4 &targetMem = ::Oyster::Math::Float4x4() ); - }; - class PHYSICS_DLL_USAGE API { public: @@ -436,5 +422,6 @@ namespace Oyster } #include "PhysicsStructs.h" +#include "PhysicsFormula.h" #endif \ No newline at end of file diff --git a/Code/GamePhysics/PhysicsFormula-Impl.h b/Code/GamePhysics/PhysicsFormula-Impl.h new file mode 100644 index 00000000..2c97de24 --- /dev/null +++ b/Code/GamePhysics/PhysicsFormula-Impl.h @@ -0,0 +1,46 @@ +#ifndef PHYSICS_FORMULA_IMPL_H +#define PHYSICS_FORMULA_IMPL_H + +#include "PhysicsFormula.h" +#include "OysterPhysics3D.h" + +namespace Oyster { namespace Physics { namespace Formula +{ + namespace MomentOfInertia + { + inline ::Oyster::Math::Float4x4 CreateSphereMatrix( const ::Oyster::Math::Float mass, const ::Oyster::Math::Float radius ) + { + return ::Oyster::Physics3D::Formula::MomentOfInertia::Sphere(mass, radius); + } + + inline ::Oyster::Math::Float4x4 CreateHollowSphereMatrix( const ::Oyster::Math::Float mass, const ::Oyster::Math::Float radius ) + { + return ::Oyster::Physics3D::Formula::MomentOfInertia::HollowSphere(mass, radius); + } + + inline ::Oyster::Math::Float4x4 CreateCuboidMatrix( const ::Oyster::Math::Float mass, const ::Oyster::Math::Float height, const ::Oyster::Math::Float width, const ::Oyster::Math::Float depth ) + { + return ::Oyster::Physics3D::Formula::MomentOfInertia::Cuboid(mass, height, width, depth); + } + + inline ::Oyster::Math::Float4x4 CreateCylinderMatrix( const ::Oyster::Math::Float mass, const ::Oyster::Math::Float height, const ::Oyster::Math::Float radius ) + { + return ::Oyster::Physics3D::Formula::MomentOfInertia::Cylinder(mass, height, radius); + } + + inline ::Oyster::Math::Float4x4 CreateRodMatrix( const ::Oyster::Math::Float mass, const ::Oyster::Math::Float length ) + { + return ::Oyster::Physics3D::Formula::MomentOfInertia::RodCenter(mass, length); + } + } + + namespace CollisionResponse + { + inline ::Oyster::Math::Float Impulse( ::Oyster::Math::Float e, ::Oyster::Math::Float mA, ::Oyster::Math::Float gA, ::Oyster::Math::Float mB, ::Oyster::Math::Float gB ) + { + return (e+1) * (mB*gA - mA*gB) / (mA + mB); + } + } +} } } + +#endif \ No newline at end of file diff --git a/Code/GamePhysics/PhysicsFormula.h b/Code/GamePhysics/PhysicsFormula.h new file mode 100644 index 00000000..c015e571 --- /dev/null +++ b/Code/GamePhysics/PhysicsFormula.h @@ -0,0 +1,27 @@ +#ifndef PHYSICS_FORMULA_H +#define PHYSICS_FORMULA_H + +#include "OysterMath.h" + +namespace Oyster { namespace Physics { namespace Formula +{ + namespace MomentOfInertia + { + ::Oyster::Math::Float4x4 CreateSphereMatrix( const ::Oyster::Math::Float mass, const ::Oyster::Math::Float radius ); + ::Oyster::Math::Float4x4 CreateHollowSphereMatrix( const ::Oyster::Math::Float mass, const ::Oyster::Math::Float radius ); + ::Oyster::Math::Float4x4 CreateCuboidMatrix( const ::Oyster::Math::Float mass, const ::Oyster::Math::Float height, const ::Oyster::Math::Float width, const ::Oyster::Math::Float depth ); + ::Oyster::Math::Float4x4 CreateCylinderMatrix( const ::Oyster::Math::Float mass, const ::Oyster::Math::Float height, const ::Oyster::Math::Float radius ); + ::Oyster::Math::Float4x4 CreateRodMatrix( const ::Oyster::Math::Float mass, const ::Oyster::Math::Float length ); + } + + namespace CollisionResponse + { + ::Oyster::Math::Float Impulse( ::Oyster::Math::Float coeffOfRestitution, + ::Oyster::Math::Float massA, ::Oyster::Math::Float momentumA, + ::Oyster::Math::Float massB, ::Oyster::Math::Float momentumB ); + } +} } } + +#include "PhysicsFormula-Impl.h" + +#endif \ No newline at end of file From da996a5debcc47832830b87ef9c7138864ac4440 Mon Sep 17 00:00:00 2001 From: Dander7BD Date: Mon, 16 Dec 2013 09:06:10 +0100 Subject: [PATCH 02/42] Added cirtual function to ICollideAble Overload of Intersects(...) --- Code/OysterPhysics3D/ICollideable.h | 1 + 1 file changed, 1 insertion(+) diff --git a/Code/OysterPhysics3D/ICollideable.h b/Code/OysterPhysics3D/ICollideable.h index 34a86f7b..038caf0f 100644 --- a/Code/OysterPhysics3D/ICollideable.h +++ b/Code/OysterPhysics3D/ICollideable.h @@ -34,6 +34,7 @@ namespace Oyster { namespace Collision3D //! Contains a collection of 3D shapes virtual ~ICollideable(); virtual ::Utility::DynamicMemory::UniquePointer Clone( ) const = 0; + virtual bool Intersects( const ICollideable &target, Oyster::Math::Float3 &worldPointOfContact ) const = 0; virtual bool Intersects( const ICollideable &target ) const = 0; virtual bool Contains( const ICollideable &target ) const = 0; }; From de0078265c7a4a005178aa7cd57232afc4bab4fc Mon Sep 17 00:00:00 2001 From: Dander7BD Date: Mon, 16 Dec 2013 09:36:41 +0100 Subject: [PATCH 03/42] Stub response to new ICollideAble method Stubbed: Box, BoxAxisAligned, Frustrum Fully implemented: Line & Universe --- Code/OysterPhysics3D/Box.cpp | 6 ++++ Code/OysterPhysics3D/Box.h | 1 + Code/OysterPhysics3D/BoxAxisAligned.cpp | 6 ++++ Code/OysterPhysics3D/BoxAxisAligned.h | 1 + Code/OysterPhysics3D/Frustrum.cpp | 10 ++++-- Code/OysterPhysics3D/Frustrum.h | 1 + Code/OysterPhysics3D/ICollideable.h | 2 +- Code/OysterPhysics3D/Line.cpp | 23 +++++++++++++- Code/OysterPhysics3D/Line.h | 1 + Code/OysterPhysics3D/Universe.cpp | 42 +++++++++++++++++++++++++ Code/OysterPhysics3D/Universe.h | 1 + 11 files changed, 90 insertions(+), 4 deletions(-) diff --git a/Code/OysterPhysics3D/Box.cpp b/Code/OysterPhysics3D/Box.cpp index 382c6732..59c98372 100644 --- a/Code/OysterPhysics3D/Box.cpp +++ b/Code/OysterPhysics3D/Box.cpp @@ -54,6 +54,12 @@ bool Box::Intersects( const ICollideable &target ) const } } +bool Box::Intersects( const ICollideable &target, Float3 &worldPointOfContact ) const +{ + //! @todo TODO: implement stub properly + return this->Intersects( target ); +} + bool Box::Contains( const ICollideable &target ) const { switch( target.type ) diff --git a/Code/OysterPhysics3D/Box.h b/Code/OysterPhysics3D/Box.h index d40c9f30..bdef2f9a 100644 --- a/Code/OysterPhysics3D/Box.h +++ b/Code/OysterPhysics3D/Box.h @@ -34,6 +34,7 @@ namespace Oyster { namespace Collision3D virtual ::Utility::DynamicMemory::UniquePointer Clone( ) const; bool Intersects( const ICollideable &target ) const; + bool Intersects( const ICollideable &target, ::Oyster::Math::Float3 &worldPointOfContact ) const; bool Contains( const ICollideable &target ) const; }; } } diff --git a/Code/OysterPhysics3D/BoxAxisAligned.cpp b/Code/OysterPhysics3D/BoxAxisAligned.cpp index f50f4b6d..f1fc2a78 100644 --- a/Code/OysterPhysics3D/BoxAxisAligned.cpp +++ b/Code/OysterPhysics3D/BoxAxisAligned.cpp @@ -57,6 +57,12 @@ bool BoxAxisAligned::Intersects( const ICollideable &target ) const } } +bool BoxAxisAligned::Intersects( const ICollideable &target, Float3 &worldPointOfContact ) const +{ + //! @todo TODO: implement stub properly + return this->Intersects( target ); +} + bool BoxAxisAligned::Contains( const ICollideable &target ) const { switch( target.type ) diff --git a/Code/OysterPhysics3D/BoxAxisAligned.h b/Code/OysterPhysics3D/BoxAxisAligned.h index a0e109b2..374c888f 100644 --- a/Code/OysterPhysics3D/BoxAxisAligned.h +++ b/Code/OysterPhysics3D/BoxAxisAligned.h @@ -29,6 +29,7 @@ namespace Oyster { namespace Collision3D virtual ::Utility::DynamicMemory::UniquePointer Clone( ) const; bool Intersects( const ICollideable &target ) const; + bool Intersects( const ICollideable &target, ::Oyster::Math::Float3 &worldPointOfContact ) const; bool Contains( const ICollideable &target ) const; }; } } diff --git a/Code/OysterPhysics3D/Frustrum.cpp b/Code/OysterPhysics3D/Frustrum.cpp index 7099c2ce..39e27318 100644 --- a/Code/OysterPhysics3D/Frustrum.cpp +++ b/Code/OysterPhysics3D/Frustrum.cpp @@ -5,8 +5,8 @@ #include "Frustrum.h" #include "OysterCollision3D.h" -using namespace Oyster::Math; -using namespace Oyster::Collision3D; +using namespace ::Oyster::Math; +using namespace ::Oyster::Collision3D; namespace PrivateStatic { @@ -218,6 +218,12 @@ bool Frustrum::Intersects( const ICollideable &target ) const } } +bool Frustrum::Intersects( const ICollideable &target, Float3 &worldPointOfContact ) const +{ + //! @todo TODO: implement stub properly + return this->Intersects( target ); +} + bool Frustrum::Contains( const ICollideable &target ) const { switch( target.type ) diff --git a/Code/OysterPhysics3D/Frustrum.h b/Code/OysterPhysics3D/Frustrum.h index afd8d8bd..c59d89f5 100644 --- a/Code/OysterPhysics3D/Frustrum.h +++ b/Code/OysterPhysics3D/Frustrum.h @@ -39,6 +39,7 @@ namespace Oyster { namespace Collision3D virtual ::Utility::DynamicMemory::UniquePointer Clone( ) const; bool Intersects( const ICollideable &target ) const; + bool Intersects( const ICollideable &target, Oyster::Math::Float3 &worldPointOfContact ) const; bool Contains( const ICollideable &target ) const; }; diff --git a/Code/OysterPhysics3D/ICollideable.h b/Code/OysterPhysics3D/ICollideable.h index 038caf0f..14676a1e 100644 --- a/Code/OysterPhysics3D/ICollideable.h +++ b/Code/OysterPhysics3D/ICollideable.h @@ -34,7 +34,7 @@ namespace Oyster { namespace Collision3D //! Contains a collection of 3D shapes virtual ~ICollideable(); virtual ::Utility::DynamicMemory::UniquePointer Clone( ) const = 0; - virtual bool Intersects( const ICollideable &target, Oyster::Math::Float3 &worldPointOfContact ) const = 0; + virtual bool Intersects( const ICollideable &target, ::Oyster::Math::Float3 &worldPointOfContact ) const = 0; virtual bool Intersects( const ICollideable &target ) const = 0; virtual bool Contains( const ICollideable &target ) const = 0; }; diff --git a/Code/OysterPhysics3D/Line.cpp b/Code/OysterPhysics3D/Line.cpp index 17fe55f7..0d3c3dcd 100644 --- a/Code/OysterPhysics3D/Line.cpp +++ b/Code/OysterPhysics3D/Line.cpp @@ -46,8 +46,29 @@ bool Line::Intersects( const ICollideable &target ) const return true; } - if( this->ray.Intersects( target ) ) if( this->ray.collisionDistance >= 0.0f ) if( this->ray.collisionDistance <= this->length ) + if( this->ray.Intersects(target) ) if( this->ray.collisionDistance >= 0.0f ) if( this->ray.collisionDistance <= this->length ) + { return true; + } + + this->ray.collisionDistance = 0.0f; + return false; +} + +bool Line::Intersects( const ICollideable &target, Float3 &worldPointOfContact ) const +{ + if( target.type == Type_universe ) + { + this->ray.collisionDistance = 0.0f; + worldPointOfContact = this->ray.origin; + return true; + } + + if( this->ray.Intersects(target) ) if( this->ray.collisionDistance >= 0.0f ) if( this->ray.collisionDistance <= this->length ) + { + worldPointOfContact = this->ray.origin + this->ray.direction * this->ray.collisionDistance; + return true; + } this->ray.collisionDistance = 0.0f; return false; diff --git a/Code/OysterPhysics3D/Line.h b/Code/OysterPhysics3D/Line.h index f062c0dc..e90e7ac4 100644 --- a/Code/OysterPhysics3D/Line.h +++ b/Code/OysterPhysics3D/Line.h @@ -30,6 +30,7 @@ namespace Oyster { namespace Collision3D virtual ::Utility::DynamicMemory::UniquePointer Clone( ) const; bool Intersects( const ICollideable &target ) const; + bool Intersects( const ICollideable &target, ::Oyster::Math::Float3 &worldPointOfContact ) const; bool Contains( const ICollideable &target ) const; }; } } diff --git a/Code/OysterPhysics3D/Universe.cpp b/Code/OysterPhysics3D/Universe.cpp index 725e2839..f1887e0b 100644 --- a/Code/OysterPhysics3D/Universe.cpp +++ b/Code/OysterPhysics3D/Universe.cpp @@ -1,6 +1,8 @@ #include "Universe.h" #include "OysterCollision3D.h" +using namespace ::Utility::Value; +using namespace ::Oyster::Math; using namespace ::Oyster::Collision3D; using namespace ::Utility::DynamicMemory; @@ -29,6 +31,46 @@ bool Universe::Intersects( const ICollideable &target ) const return true; } +bool Universe::Intersects( const ICollideable &target, Float3 &worldPointOfContact ) const +{ // universe touches everything + switch( target.type ) + { + case Type_point: + worldPointOfContact = ((Point*)&target)->center; + break; + case Type_sphere: + worldPointOfContact = ((Sphere*)&target)->center; + break; + case Type_plane: + worldPointOfContact = ((Plane*)&target)->normal * ((Plane*)&target)->phasing; + break; + case Type_box_axis_aligned: + worldPointOfContact = Average( ((BoxAxisAligned*)&target)->minVertex, ((BoxAxisAligned*)&target)->maxVertex ); + break; + case Type_box: + worldPointOfContact = ((Box*)&target)->center; + break; + case Type_frustrum: + worldPointOfContact = Average( ((Frustrum*)&target)->leftPlane.normal * ((Frustrum*)&target)->leftPlane.phasing, ((Frustrum*)&target)->rightPlane.normal * ((Frustrum*)&target)->rightPlane.phasing ); + worldPointOfContact = Average( worldPointOfContact, Average( ((Frustrum*)&target)->bottomPlane.normal * ((Frustrum*)&target)->bottomPlane.phasing, ((Frustrum*)&target)->topPlane.normal * ((Frustrum*)&target)->topPlane.phasing ) ); + worldPointOfContact = Average( worldPointOfContact, Average( ((Frustrum*)&target)->nearPlane.normal * ((Frustrum*)&target)->nearPlane.phasing, ((Frustrum*)&target)->farPlane.normal * ((Frustrum*)&target)->farPlane.phasing ) ); + break; + case Type_ray: + ((Ray*)&target)->collisionDistance = 0.0f; + worldPointOfContact = ((Ray*)&target)->origin; + break; + case Type_line: + ((Line*)&target)->ray.collisionDistance = 0.0f; + worldPointOfContact = ((Line*)&target)->ray.origin; + break; + default: + worldPointOfContact = Float3::null; + break; + } + + return true; +} + bool Universe::Contains( const ICollideable &target ) const { return true; } // universe contains everything diff --git a/Code/OysterPhysics3D/Universe.h b/Code/OysterPhysics3D/Universe.h index ff8366be..fce8179e 100644 --- a/Code/OysterPhysics3D/Universe.h +++ b/Code/OysterPhysics3D/Universe.h @@ -20,6 +20,7 @@ namespace Oyster { namespace Collision3D virtual ::Utility::DynamicMemory::UniquePointer Clone( ) const; bool Intersects( const ICollideable &target ) const; + bool Intersects( const ICollideable &target, ::Oyster::Math::Float3 &worldPointOfContact ) const; bool Contains( const ICollideable &target ) const; }; } } From 283633c6c6747ef7420c0b466f977cee7d696001 Mon Sep 17 00:00:00 2001 From: Robin Engman Date: Mon, 16 Dec 2013 09:38:04 +0100 Subject: [PATCH 04/42] Added stub functions More funcitonallity for intersect functions. --- Code/OysterPhysics3D/OysterCollision3D.cpp | 53 ++++++++++++++++++++++ Code/OysterPhysics3D/OysterCollision3D.h | 10 ++++ Code/OysterPhysics3D/Plane.cpp | 18 ++++++++ Code/OysterPhysics3D/Plane.h | 1 + Code/OysterPhysics3D/Point.cpp | 18 ++++++++ Code/OysterPhysics3D/Point.h | 1 + Code/OysterPhysics3D/Ray.cpp | 20 ++++++++ Code/OysterPhysics3D/Ray.h | 1 + Code/OysterPhysics3D/Sphere.cpp | 18 ++++++++ Code/OysterPhysics3D/Sphere.h | 1 + 10 files changed, 141 insertions(+) diff --git a/Code/OysterPhysics3D/OysterCollision3D.cpp b/Code/OysterPhysics3D/OysterCollision3D.cpp index 5df9761c..6d437511 100644 --- a/Code/OysterPhysics3D/OysterCollision3D.cpp +++ b/Code/OysterPhysics3D/OysterCollision3D.cpp @@ -249,6 +249,11 @@ namespace Oyster { namespace Collision3D { namespace Utility return true; // Passed all tests, is in same position } + bool Intersect( const Point &pointA, const Point &pointB, const ::Oyster::Math::Float3& worldPointOfContact ) + { + return false; + } + bool Intersect( const Ray &ray, const Point &point, Float &connectDistance ) { // by Dan Andersson Float connectOffsetSquared; @@ -279,6 +284,16 @@ namespace Oyster { namespace Collision3D { namespace Utility return false; } + bool Intersect( const Ray &ray, const Point &point, ::Oyster::Math::Float &connectDistance, const ::Oyster::Math::Float3& worldPointOfContact ) + { + return false; + } + + bool Intersect( const Ray &rayA, const Ray &rayB, ::Oyster::Math::Float &connectDistanceA, ::Oyster::Math::Float &connectDistanceB, const ::Oyster::Math::Float3& worldPointOfContact ) + { + return false; + } + bool Intersect( const Sphere &sphere, const Point &point ) { // by Dan Andersson Float3 dP = point.center - sphere.center; @@ -321,6 +336,24 @@ namespace Oyster { namespace Collision3D { namespace Utility return false; } + bool Intersect( const Sphere &sphere, const Point &point, const ::Oyster::Math::Float3& worldPointOfContact ) + { + return false; + } + + bool Intersect( const Sphere &sphere, const Ray &ray, ::Oyster::Math::Float &connectDistance, const ::Oyster::Math::Float3& worldPointOfContact ) + { + return false; + } + + bool Intersect( const Sphere &sphereA, const Sphere &sphereB, const ::Oyster::Math::Float3& worldPointOfContact ) + { + Ray sphereRay(sphereA, Float3(sphereB.center-sphereA.center).Normalize()); + + + return false; + } + bool Intersect( const Plane &plane, const Point &point ) { // by Dan Andersson Float connectOffset; @@ -364,6 +397,26 @@ namespace Oyster { namespace Collision3D { namespace Utility return true; // none parallell planes ALWAYS intersects somewhere } + bool Intersect( const Plane &plane, const Point &point, const ::Oyster::Math::Float3& worldPointOfContact ) + { + return false; + } + + bool Intersect( const Plane &plane, const Ray &ray, ::Oyster::Math::Float &connectDistance, const ::Oyster::Math::Float3& worldPointOfContact ) + { + return false; + } + + bool Intersect( const Plane &plane, const Sphere &sphere, const ::Oyster::Math::Float3& worldPointOfContact ) + { + return false; + } + + bool Intersect( const Plane &planeA, const Plane &planeB, const ::Oyster::Math::Float3& worldPointOfContact ) + { + return false; + } + bool Intersect( const BoxAxisAligned &box, const Point &point ) { // by Dan Andersson if( point.center.x < box.minVertex.x ) return false; diff --git a/Code/OysterPhysics3D/OysterCollision3D.h b/Code/OysterPhysics3D/OysterCollision3D.h index 24d6a568..2b1f820f 100644 --- a/Code/OysterPhysics3D/OysterCollision3D.h +++ b/Code/OysterPhysics3D/OysterCollision3D.h @@ -25,18 +25,28 @@ namespace Oyster { namespace Collision3D { namespace Utility void Compare( ::Oyster::Math::Float &connectOffset, const Plane &plane, const Point &point ); bool Intersect( const Point &pointA, const Point &pointB ); + bool Intersect( const Point &pointA, const Point &pointB, const ::Oyster::Math::Float3& worldPointOfContact ); bool Intersect( const Ray &ray, const Point &point, ::Oyster::Math::Float &connectDistance ); bool Intersect( const Ray &rayA, const Ray &rayB, ::Oyster::Math::Float &connectDistanceA, ::Oyster::Math::Float &connectDistanceB ); + bool Intersect( const Ray &ray, const Point &point, ::Oyster::Math::Float &connectDistance, const ::Oyster::Math::Float3& worldPointOfContact ); + bool Intersect( const Ray &rayA, const Ray &rayB, ::Oyster::Math::Float &connectDistanceA, ::Oyster::Math::Float &connectDistanceB, const ::Oyster::Math::Float3& worldPointOfContact ); bool Intersect( const Sphere &sphere, const Point &point ); bool Intersect( const Sphere &sphere, const Ray &ray, ::Oyster::Math::Float &connectDistance ); bool Intersect( const Sphere &sphereA, const Sphere &sphereB ); + bool Intersect( const Sphere &sphere, const Point &point, const ::Oyster::Math::Float3& worldPointOfContact ); + bool Intersect( const Sphere &sphere, const Ray &ray, ::Oyster::Math::Float &connectDistance, const ::Oyster::Math::Float3& worldPointOfContact ); + bool Intersect( const Sphere &sphereA, const Sphere &sphereB, const ::Oyster::Math::Float3& worldPointOfContact ); bool Intersect( const Plane &plane, const Point &point ); bool Intersect( const Plane &plane, const Ray &ray, ::Oyster::Math::Float &connectDistance ); bool Intersect( const Plane &plane, const Sphere &sphere ); bool Intersect( const Plane &planeA, const Plane &planeB ); + bool Intersect( const Plane &plane, const Point &point, const ::Oyster::Math::Float3& worldPointOfContact ); + bool Intersect( const Plane &plane, const Ray &ray, ::Oyster::Math::Float &connectDistance, const ::Oyster::Math::Float3& worldPointOfContact ); + bool Intersect( const Plane &plane, const Sphere &sphere, const ::Oyster::Math::Float3& worldPointOfContact ); + bool Intersect( const Plane &planeA, const Plane &planeB, const ::Oyster::Math::Float3& worldPointOfContact ); // bool Intersect( const Triangle &triangle, const Point &point, ? ); // bool Intersect( const Triangle &triangle, const Ray &ray, ? ); diff --git a/Code/OysterPhysics3D/Plane.cpp b/Code/OysterPhysics3D/Plane.cpp index a1a16b14..0bc14982 100644 --- a/Code/OysterPhysics3D/Plane.cpp +++ b/Code/OysterPhysics3D/Plane.cpp @@ -50,6 +50,24 @@ bool Plane::Intersects( const ICollideable &target ) const } } +bool Plane::Intersects( const ICollideable &target, const ::Oyster::Math::Float3 &worldPointOfContact ) const +{ + switch( target.type ) + { + case Type_universe: return true; + case Type_point: return Utility::Intersect( *this, *(Point*)&target, worldPointOfContact ); + case Type_ray: return Utility::Intersect( *this, *(Ray*)&target, ((Ray*)&target)->collisionDistance, worldPointOfContact ); + case Type_sphere: return Utility::Intersect( *this, *(Sphere*)&target, worldPointOfContact ); + case Type_plane: return Utility::Intersect( *(Plane*)&target, *this, worldPointOfContact ); + // case Type_triangle: return false; // TODO: + case Type_box_axis_aligned: return Utility::Intersect( *(BoxAxisAligned*)&target, *this, worldPointOfContact ); + case Type_box: return Utility::Intersect( *(Box*)&target, *this, worldPointOfContact ); + case Type_frustrum: return false; // TODO: + default: worldPointOfContact = NULL; + return false; + } +} + bool Plane::Contains( const ICollideable &target ) const { switch( target.type ) diff --git a/Code/OysterPhysics3D/Plane.h b/Code/OysterPhysics3D/Plane.h index b69c5c9f..e38240f3 100644 --- a/Code/OysterPhysics3D/Plane.h +++ b/Code/OysterPhysics3D/Plane.h @@ -29,6 +29,7 @@ namespace Oyster { namespace Collision3D virtual ::Utility::DynamicMemory::UniquePointer Clone( ) const; bool Intersects( const ICollideable &target ) const; + bool Intersects( const ICollideable &target, const ::Oyster::Math::Float3 &worldPointOfContact ) const; bool Contains( const ICollideable &target ) const; }; } } diff --git a/Code/OysterPhysics3D/Point.cpp b/Code/OysterPhysics3D/Point.cpp index d81c91a3..7bcce9ae 100644 --- a/Code/OysterPhysics3D/Point.cpp +++ b/Code/OysterPhysics3D/Point.cpp @@ -48,6 +48,24 @@ bool Point::Intersects( const ICollideable &target ) const } } +bool Point::Intersects( const ICollideable &target, const ::Oyster::Math::Float3 &worldPointOfContact ) const +{ + switch( target.type ) + { + case Type_universe: return true; + case Type_point: return Utility::Intersect( *this, *(Point*)&target, worldPointOfContact ); + case Type_ray: return Utility::Intersect( *this, *(Ray*)&target, ((Ray*)&target)->collisionDistance, worldPointOfContact ); + case Type_sphere: return Utility::Intersect( *this, *(Sphere*)&target, worldPointOfContact ); + case Type_plane: return Utility::Intersect( *(Plane*)&target, *this, worldPointOfContact ); + // case Type_triangle: return false; // TODO: + case Type_box_axis_aligned: return Utility::Intersect( *(BoxAxisAligned*)&target, *this, worldPointOfContact ); + case Type_box: return Utility::Intersect( *(Box*)&target, *this, worldPointOfContact ); + case Type_frustrum: return false; // TODO: + default: worldPointOfContact = NULL; + return false; + } +} + bool Point::Contains( const ICollideable &target ) const { switch( target.type ) diff --git a/Code/OysterPhysics3D/Point.h b/Code/OysterPhysics3D/Point.h index 42561909..60b74659 100644 --- a/Code/OysterPhysics3D/Point.h +++ b/Code/OysterPhysics3D/Point.h @@ -28,6 +28,7 @@ namespace Oyster { namespace Collision3D virtual ::Utility::DynamicMemory::UniquePointer Clone( ) const; bool Intersects( const ICollideable &target ) const; + bool Intersects( const ICollideable &target, const ::Oyster::Math::Float3 &worldPointOfContact ) const; bool Contains( const ICollideable &target ) const; }; } } diff --git a/Code/OysterPhysics3D/Ray.cpp b/Code/OysterPhysics3D/Ray.cpp index 79e4dbd5..2a640163 100644 --- a/Code/OysterPhysics3D/Ray.cpp +++ b/Code/OysterPhysics3D/Ray.cpp @@ -55,6 +55,26 @@ bool Ray::Intersects( const ICollideable &target ) const } } +bool Ray::Intersects( const ICollideable &target, const ::Oyster::Math::Float3 &worldPointOfContact ) const +{ + switch( target.type ) + { + case Type_universe: + this->collisionDistance = 0.0f; + return true; + case Type_point: return Utility::Intersect( *this, *(Point*)&target, worldPointOfContact ); + case Type_ray: return Utility::Intersect( *this, *(Ray*)&target, ((Ray*)&target)->collisionDistance, worldPointOfContact ); + case Type_sphere: return Utility::Intersect( *this, *(Sphere*)&target, worldPointOfContact ); + case Type_plane: return Utility::Intersect( *(Plane*)&target, *this, worldPointOfContact ); + // case Type_triangle: return false; // TODO: + case Type_box_axis_aligned: return Utility::Intersect( *(BoxAxisAligned*)&target, *this, worldPointOfContact ); + case Type_box: return Utility::Intersect( *(Box*)&target, *this, worldPointOfContact ); + case Type_frustrum: return false; // TODO: + default: worldPointOfContact = NULL; + return false; + } +} + bool Ray::Contains( const ICollideable &target ) const { switch( target.type ) diff --git a/Code/OysterPhysics3D/Ray.h b/Code/OysterPhysics3D/Ray.h index 5f24ea81..34f32ebe 100644 --- a/Code/OysterPhysics3D/Ray.h +++ b/Code/OysterPhysics3D/Ray.h @@ -37,6 +37,7 @@ namespace Oyster { namespace Collision3D virtual ::Utility::DynamicMemory::UniquePointer Clone( ) const; bool Intersects( const ICollideable &target ) const; + bool Intersects( const ICollideable &target, const ::Oyster::Math::Float3 &worldPointOfContact ) const; bool Contains( const ICollideable &target ) const; }; } } diff --git a/Code/OysterPhysics3D/Sphere.cpp b/Code/OysterPhysics3D/Sphere.cpp index 4f6f76f7..eb907e59 100644 --- a/Code/OysterPhysics3D/Sphere.cpp +++ b/Code/OysterPhysics3D/Sphere.cpp @@ -45,6 +45,24 @@ bool Sphere::Intersects( const ICollideable &target ) const } } +bool Sphere::Intersects( const ICollideable &target, const ::Oyster::Math::Float3 &worldPointOfContact ) const +{ + switch( target.type ) + { + case Type_universe: return true; + case Type_point: return Utility::Intersect( *this, *(Point*)&target, worldPointOfContact ); + case Type_ray: return Utility::Intersect( *this, *(Ray*)&target, ((Ray*)&target)->collisionDistance, worldPointOfContact ); + case Type_sphere: return Utility::Intersect( *this, *(Sphere*)&target, worldPointOfContact ); + case Type_plane: return Utility::Intersect( *(Plane*)&target, *this, worldPointOfContact ); + // case Type_triangle: return false; // TODO: + case Type_box_axis_aligned: return Utility::Intersect( *(BoxAxisAligned*)&target, *this, worldPointOfContact ); + case Type_box: return Utility::Intersect( *(Box*)&target, *this, worldPointOfContact ); + case Type_frustrum: return false; // TODO: + default: worldPointOfContact = Float3::null; + return false; + } +} + bool Sphere::Contains( const ICollideable &target ) const { switch( target.type ) diff --git a/Code/OysterPhysics3D/Sphere.h b/Code/OysterPhysics3D/Sphere.h index 8e73de0b..0c4b8094 100644 --- a/Code/OysterPhysics3D/Sphere.h +++ b/Code/OysterPhysics3D/Sphere.h @@ -28,6 +28,7 @@ namespace Oyster { namespace Collision3D virtual ::Utility::DynamicMemory::UniquePointer Clone( ) const; bool Intersects( const ICollideable &target ) const; + bool Intersects( const ICollideable &target, const ::Oyster::Math::Float3 &worldPointOfContact ) const; bool Contains( const ICollideable &target ) const; }; } } From 5f305b7086c870883330f8cf22680536eb65f416 Mon Sep 17 00:00:00 2001 From: Robin Engman Date: Mon, 16 Dec 2013 09:38:38 +0100 Subject: [PATCH 05/42] Oops --- Code/OysterPhysics3D/OysterCollision3D.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/Code/OysterPhysics3D/OysterCollision3D.cpp b/Code/OysterPhysics3D/OysterCollision3D.cpp index 6d437511..2f63fabb 100644 --- a/Code/OysterPhysics3D/OysterCollision3D.cpp +++ b/Code/OysterPhysics3D/OysterCollision3D.cpp @@ -348,7 +348,7 @@ namespace Oyster { namespace Collision3D { namespace Utility bool Intersect( const Sphere &sphereA, const Sphere &sphereB, const ::Oyster::Math::Float3& worldPointOfContact ) { - Ray sphereRay(sphereA, Float3(sphereB.center-sphereA.center).Normalize()); + //Ray sphereRay(sphereA, Float3(sphereB.center-sphereA.center).Normalize()); return false; From 61e1d20748e4608b0126c5ecbedf0bf5d9059876 Mon Sep 17 00:00:00 2001 From: Robin Engman Date: Mon, 16 Dec 2013 09:55:59 +0100 Subject: [PATCH 06/42] Fixed const problem --- Code/OysterPhysics3D/OysterCollision3D.cpp | 2 +- Code/OysterPhysics3D/OysterCollision3D.h | 20 ++++++++++---------- Code/OysterPhysics3D/Plane.cpp | 2 +- Code/OysterPhysics3D/Plane.h | 2 +- Code/OysterPhysics3D/Point.cpp | 6 +++--- Code/OysterPhysics3D/Point.h | 2 +- Code/OysterPhysics3D/Ray.cpp | 14 +++++++------- Code/OysterPhysics3D/Ray.h | 2 +- Code/OysterPhysics3D/Sphere.cpp | 2 +- Code/OysterPhysics3D/Sphere.h | 2 +- 10 files changed, 27 insertions(+), 27 deletions(-) diff --git a/Code/OysterPhysics3D/OysterCollision3D.cpp b/Code/OysterPhysics3D/OysterCollision3D.cpp index 2f63fabb..a5d4117c 100644 --- a/Code/OysterPhysics3D/OysterCollision3D.cpp +++ b/Code/OysterPhysics3D/OysterCollision3D.cpp @@ -348,7 +348,7 @@ namespace Oyster { namespace Collision3D { namespace Utility bool Intersect( const Sphere &sphereA, const Sphere &sphereB, const ::Oyster::Math::Float3& worldPointOfContact ) { - //Ray sphereRay(sphereA, Float3(sphereB.center-sphereA.center).Normalize()); + Ray sphereRay(sphereA.center, Float3(sphereB.center-sphereA.center).Normalize()); return false; diff --git a/Code/OysterPhysics3D/OysterCollision3D.h b/Code/OysterPhysics3D/OysterCollision3D.h index 2b1f820f..7920a885 100644 --- a/Code/OysterPhysics3D/OysterCollision3D.h +++ b/Code/OysterPhysics3D/OysterCollision3D.h @@ -25,28 +25,28 @@ namespace Oyster { namespace Collision3D { namespace Utility void Compare( ::Oyster::Math::Float &connectOffset, const Plane &plane, const Point &point ); bool Intersect( const Point &pointA, const Point &pointB ); - bool Intersect( const Point &pointA, const Point &pointB, const ::Oyster::Math::Float3& worldPointOfContact ); + bool Intersect( const Point &pointA, const Point &pointB, ::Oyster::Math::Float3& worldPointOfContact ); bool Intersect( const Ray &ray, const Point &point, ::Oyster::Math::Float &connectDistance ); bool Intersect( const Ray &rayA, const Ray &rayB, ::Oyster::Math::Float &connectDistanceA, ::Oyster::Math::Float &connectDistanceB ); - bool Intersect( const Ray &ray, const Point &point, ::Oyster::Math::Float &connectDistance, const ::Oyster::Math::Float3& worldPointOfContact ); - bool Intersect( const Ray &rayA, const Ray &rayB, ::Oyster::Math::Float &connectDistanceA, ::Oyster::Math::Float &connectDistanceB, const ::Oyster::Math::Float3& worldPointOfContact ); + bool Intersect( const Ray &ray, const Point &point, ::Oyster::Math::Float &connectDistance, ::Oyster::Math::Float3& worldPointOfContact ); + bool Intersect( const Ray &rayA, const Ray &rayB, ::Oyster::Math::Float &connectDistanceA, ::Oyster::Math::Float &connectDistanceB, ::Oyster::Math::Float3& worldPointOfContact ); bool Intersect( const Sphere &sphere, const Point &point ); bool Intersect( const Sphere &sphere, const Ray &ray, ::Oyster::Math::Float &connectDistance ); bool Intersect( const Sphere &sphereA, const Sphere &sphereB ); - bool Intersect( const Sphere &sphere, const Point &point, const ::Oyster::Math::Float3& worldPointOfContact ); - bool Intersect( const Sphere &sphere, const Ray &ray, ::Oyster::Math::Float &connectDistance, const ::Oyster::Math::Float3& worldPointOfContact ); - bool Intersect( const Sphere &sphereA, const Sphere &sphereB, const ::Oyster::Math::Float3& worldPointOfContact ); + bool Intersect( const Sphere &sphere, const Point &point, ::Oyster::Math::Float3& worldPointOfContact ); + bool Intersect( const Sphere &sphere, const Ray &ray, ::Oyster::Math::Float &connectDistance, ::Oyster::Math::Float3& worldPointOfContact ); + bool Intersect( const Sphere &sphereA, const Sphere &sphereB, ::Oyster::Math::Float3& worldPointOfContact ); bool Intersect( const Plane &plane, const Point &point ); bool Intersect( const Plane &plane, const Ray &ray, ::Oyster::Math::Float &connectDistance ); bool Intersect( const Plane &plane, const Sphere &sphere ); bool Intersect( const Plane &planeA, const Plane &planeB ); - bool Intersect( const Plane &plane, const Point &point, const ::Oyster::Math::Float3& worldPointOfContact ); - bool Intersect( const Plane &plane, const Ray &ray, ::Oyster::Math::Float &connectDistance, const ::Oyster::Math::Float3& worldPointOfContact ); - bool Intersect( const Plane &plane, const Sphere &sphere, const ::Oyster::Math::Float3& worldPointOfContact ); - bool Intersect( const Plane &planeA, const Plane &planeB, const ::Oyster::Math::Float3& worldPointOfContact ); + bool Intersect( const Plane &plane, const Point &point, ::Oyster::Math::Float3& worldPointOfContact ); + bool Intersect( const Plane &plane, const Ray &ray, ::Oyster::Math::Float &connectDistance, ::Oyster::Math::Float3& worldPointOfContact ); + bool Intersect( const Plane &plane, const Sphere &sphere, ::Oyster::Math::Float3& worldPointOfContact ); + bool Intersect( const Plane &planeA, const Plane &planeB, ::Oyster::Math::Float3& worldPointOfContact ); // bool Intersect( const Triangle &triangle, const Point &point, ? ); // bool Intersect( const Triangle &triangle, const Ray &ray, ? ); diff --git a/Code/OysterPhysics3D/Plane.cpp b/Code/OysterPhysics3D/Plane.cpp index 0bc14982..87d20c84 100644 --- a/Code/OysterPhysics3D/Plane.cpp +++ b/Code/OysterPhysics3D/Plane.cpp @@ -50,7 +50,7 @@ bool Plane::Intersects( const ICollideable &target ) const } } -bool Plane::Intersects( const ICollideable &target, const ::Oyster::Math::Float3 &worldPointOfContact ) const +bool Plane::Intersects( const ICollideable &target, ::Oyster::Math::Float3 &worldPointOfContact ) const { switch( target.type ) { diff --git a/Code/OysterPhysics3D/Plane.h b/Code/OysterPhysics3D/Plane.h index e38240f3..35b68261 100644 --- a/Code/OysterPhysics3D/Plane.h +++ b/Code/OysterPhysics3D/Plane.h @@ -29,7 +29,7 @@ namespace Oyster { namespace Collision3D virtual ::Utility::DynamicMemory::UniquePointer Clone( ) const; bool Intersects( const ICollideable &target ) const; - bool Intersects( const ICollideable &target, const ::Oyster::Math::Float3 &worldPointOfContact ) const; + bool Intersects( const ICollideable &target, ::Oyster::Math::Float3 &worldPointOfContact ) const; bool Contains( const ICollideable &target ) const; }; } } diff --git a/Code/OysterPhysics3D/Point.cpp b/Code/OysterPhysics3D/Point.cpp index 7bcce9ae..717b47a4 100644 --- a/Code/OysterPhysics3D/Point.cpp +++ b/Code/OysterPhysics3D/Point.cpp @@ -48,14 +48,14 @@ bool Point::Intersects( const ICollideable &target ) const } } -bool Point::Intersects( const ICollideable &target, const ::Oyster::Math::Float3 &worldPointOfContact ) const +bool Point::Intersects( const ICollideable &target, ::Oyster::Math::Float3 &worldPointOfContact ) const { switch( target.type ) { case Type_universe: return true; case Type_point: return Utility::Intersect( *this, *(Point*)&target, worldPointOfContact ); - case Type_ray: return Utility::Intersect( *this, *(Ray*)&target, ((Ray*)&target)->collisionDistance, worldPointOfContact ); - case Type_sphere: return Utility::Intersect( *this, *(Sphere*)&target, worldPointOfContact ); + case Type_ray: return Utility::Intersect( *(Ray*)&target, *this, ((Ray*)&target)->collisionDistance, worldPointOfContact ); + case Type_sphere: return Utility::Intersect( *(Sphere*)&target, *this, worldPointOfContact ); case Type_plane: return Utility::Intersect( *(Plane*)&target, *this, worldPointOfContact ); // case Type_triangle: return false; // TODO: case Type_box_axis_aligned: return Utility::Intersect( *(BoxAxisAligned*)&target, *this, worldPointOfContact ); diff --git a/Code/OysterPhysics3D/Point.h b/Code/OysterPhysics3D/Point.h index 60b74659..ca6f4082 100644 --- a/Code/OysterPhysics3D/Point.h +++ b/Code/OysterPhysics3D/Point.h @@ -28,7 +28,7 @@ namespace Oyster { namespace Collision3D virtual ::Utility::DynamicMemory::UniquePointer Clone( ) const; bool Intersects( const ICollideable &target ) const; - bool Intersects( const ICollideable &target, const ::Oyster::Math::Float3 &worldPointOfContact ) const; + bool Intersects( const ICollideable &target, ::Oyster::Math::Float3 &worldPointOfContact ) const; bool Contains( const ICollideable &target ) const; }; } } diff --git a/Code/OysterPhysics3D/Ray.cpp b/Code/OysterPhysics3D/Ray.cpp index 2a640163..d1e81974 100644 --- a/Code/OysterPhysics3D/Ray.cpp +++ b/Code/OysterPhysics3D/Ray.cpp @@ -55,20 +55,20 @@ bool Ray::Intersects( const ICollideable &target ) const } } -bool Ray::Intersects( const ICollideable &target, const ::Oyster::Math::Float3 &worldPointOfContact ) const +bool Ray::Intersects( const ICollideable &target, ::Oyster::Math::Float3 &worldPointOfContact ) const { switch( target.type ) { case Type_universe: this->collisionDistance = 0.0f; return true; - case Type_point: return Utility::Intersect( *this, *(Point*)&target, worldPointOfContact ); - case Type_ray: return Utility::Intersect( *this, *(Ray*)&target, ((Ray*)&target)->collisionDistance, worldPointOfContact ); - case Type_sphere: return Utility::Intersect( *this, *(Sphere*)&target, worldPointOfContact ); - case Type_plane: return Utility::Intersect( *(Plane*)&target, *this, worldPointOfContact ); + case Type_point: return Utility::Intersect( *this, *(Point*)&target, this->collisionDistance, worldPointOfContact ); + case Type_ray: return Utility::Intersect( *this, *(Ray*)&target, this->collisionDistance, ((Ray*)&target)->collisionDistance, worldPointOfContact ); + case Type_sphere: return Utility::Intersect( *(Sphere*)&target, *this, this->collisionDistance, worldPointOfContact ); + case Type_plane: return Utility::Intersect( *(Plane*)&target, *this, this->collisionDistance, worldPointOfContact ); // case Type_triangle: return false; // TODO: - case Type_box_axis_aligned: return Utility::Intersect( *(BoxAxisAligned*)&target, *this, worldPointOfContact ); - case Type_box: return Utility::Intersect( *(Box*)&target, *this, worldPointOfContact ); + case Type_box_axis_aligned: return Utility::Intersect( *(BoxAxisAligned*)&target, *this, this->collisionDistance, worldPointOfContact ); + case Type_box: return Utility::Intersect( *(Box*)&target, *this, this->collisionDistance, worldPointOfContact ); case Type_frustrum: return false; // TODO: default: worldPointOfContact = NULL; return false; diff --git a/Code/OysterPhysics3D/Ray.h b/Code/OysterPhysics3D/Ray.h index 34f32ebe..52131af3 100644 --- a/Code/OysterPhysics3D/Ray.h +++ b/Code/OysterPhysics3D/Ray.h @@ -37,7 +37,7 @@ namespace Oyster { namespace Collision3D virtual ::Utility::DynamicMemory::UniquePointer Clone( ) const; bool Intersects( const ICollideable &target ) const; - bool Intersects( const ICollideable &target, const ::Oyster::Math::Float3 &worldPointOfContact ) const; + bool Intersects( const ICollideable &target, ::Oyster::Math::Float3 &worldPointOfContact ) const; bool Contains( const ICollideable &target ) const; }; } } diff --git a/Code/OysterPhysics3D/Sphere.cpp b/Code/OysterPhysics3D/Sphere.cpp index eb907e59..399fd0be 100644 --- a/Code/OysterPhysics3D/Sphere.cpp +++ b/Code/OysterPhysics3D/Sphere.cpp @@ -45,7 +45,7 @@ bool Sphere::Intersects( const ICollideable &target ) const } } -bool Sphere::Intersects( const ICollideable &target, const ::Oyster::Math::Float3 &worldPointOfContact ) const +bool Sphere::Intersects( const ICollideable &target, ::Oyster::Math::Float3 &worldPointOfContact ) const { switch( target.type ) { diff --git a/Code/OysterPhysics3D/Sphere.h b/Code/OysterPhysics3D/Sphere.h index 0c4b8094..e2719328 100644 --- a/Code/OysterPhysics3D/Sphere.h +++ b/Code/OysterPhysics3D/Sphere.h @@ -28,7 +28,7 @@ namespace Oyster { namespace Collision3D virtual ::Utility::DynamicMemory::UniquePointer Clone( ) const; bool Intersects( const ICollideable &target ) const; - bool Intersects( const ICollideable &target, const ::Oyster::Math::Float3 &worldPointOfContact ) const; + bool Intersects( const ICollideable &target, ::Oyster::Math::Float3 &worldPointOfContact ) const; bool Contains( const ICollideable &target ) const; }; } } From a3ced24fea95caf78a3782743e2a1188a086f685 Mon Sep 17 00:00:00 2001 From: Dander7BD Date: Mon, 16 Dec 2013 10:03:29 +0100 Subject: [PATCH 07/42] Some compile error fixes --- Code/OysterPhysics3D/ICollideable.h | 1 + Code/OysterPhysics3D/Plane.cpp | 4 ++-- Code/OysterPhysics3D/Point.cpp | 4 ++-- Code/OysterPhysics3D/Ray.cpp | 4 ++-- Code/OysterPhysics3D/Ray.h | 1 - Code/OysterPhysics3D/Sphere.cpp | 4 ++-- Code/OysterPhysics3D/Universe.h | 1 + 7 files changed, 10 insertions(+), 9 deletions(-) diff --git a/Code/OysterPhysics3D/ICollideable.h b/Code/OysterPhysics3D/ICollideable.h index 14676a1e..a8eb9464 100644 --- a/Code/OysterPhysics3D/ICollideable.h +++ b/Code/OysterPhysics3D/ICollideable.h @@ -6,6 +6,7 @@ #ifndef OYSTER_COLLISION_3D_ICOLLIDEABLE_H #define OYSTER_COLLISION_3D_ICOLLIDEABLE_H +#include "OysterMath.h" #include "Utilities.h" namespace Oyster { namespace Collision3D //! Contains a collection of 3D shapes and intercollission algorithms. diff --git a/Code/OysterPhysics3D/Plane.cpp b/Code/OysterPhysics3D/Plane.cpp index 87d20c84..f44ba810 100644 --- a/Code/OysterPhysics3D/Plane.cpp +++ b/Code/OysterPhysics3D/Plane.cpp @@ -60,8 +60,8 @@ bool Plane::Intersects( const ICollideable &target, ::Oyster::Math::Float3 &worl case Type_sphere: return Utility::Intersect( *this, *(Sphere*)&target, worldPointOfContact ); case Type_plane: return Utility::Intersect( *(Plane*)&target, *this, worldPointOfContact ); // case Type_triangle: return false; // TODO: - case Type_box_axis_aligned: return Utility::Intersect( *(BoxAxisAligned*)&target, *this, worldPointOfContact ); - case Type_box: return Utility::Intersect( *(Box*)&target, *this, worldPointOfContact ); + case Type_box_axis_aligned: return false; // return Utility::Intersect( *(BoxAxisAligned*)&target, *this, worldPointOfContact ); + case Type_box: return false; // return Utility::Intersect( *(Box*)&target, *this, worldPointOfContact ); case Type_frustrum: return false; // TODO: default: worldPointOfContact = NULL; return false; diff --git a/Code/OysterPhysics3D/Point.cpp b/Code/OysterPhysics3D/Point.cpp index 717b47a4..2981f268 100644 --- a/Code/OysterPhysics3D/Point.cpp +++ b/Code/OysterPhysics3D/Point.cpp @@ -58,8 +58,8 @@ bool Point::Intersects( const ICollideable &target, ::Oyster::Math::Float3 &worl case Type_sphere: return Utility::Intersect( *(Sphere*)&target, *this, worldPointOfContact ); case Type_plane: return Utility::Intersect( *(Plane*)&target, *this, worldPointOfContact ); // case Type_triangle: return false; // TODO: - case Type_box_axis_aligned: return Utility::Intersect( *(BoxAxisAligned*)&target, *this, worldPointOfContact ); - case Type_box: return Utility::Intersect( *(Box*)&target, *this, worldPointOfContact ); + case Type_box_axis_aligned: return false; // return Utility::Intersect( *(BoxAxisAligned*)&target, *this, worldPointOfContact ); + case Type_box: return false; // return Utility::Intersect( *(Box*)&target, *this, worldPointOfContact ); case Type_frustrum: return false; // TODO: default: worldPointOfContact = NULL; return false; diff --git a/Code/OysterPhysics3D/Ray.cpp b/Code/OysterPhysics3D/Ray.cpp index d1e81974..86823b69 100644 --- a/Code/OysterPhysics3D/Ray.cpp +++ b/Code/OysterPhysics3D/Ray.cpp @@ -67,8 +67,8 @@ bool Ray::Intersects( const ICollideable &target, ::Oyster::Math::Float3 &worldP case Type_sphere: return Utility::Intersect( *(Sphere*)&target, *this, this->collisionDistance, worldPointOfContact ); case Type_plane: return Utility::Intersect( *(Plane*)&target, *this, this->collisionDistance, worldPointOfContact ); // case Type_triangle: return false; // TODO: - case Type_box_axis_aligned: return Utility::Intersect( *(BoxAxisAligned*)&target, *this, this->collisionDistance, worldPointOfContact ); - case Type_box: return Utility::Intersect( *(Box*)&target, *this, this->collisionDistance, worldPointOfContact ); + case Type_box_axis_aligned: return false; // return Utility::Intersect( *(BoxAxisAligned*)&target, *this, this->collisionDistance, worldPointOfContact ); + case Type_box: return false; // return Utility::Intersect( *(Box*)&target, *this, this->collisionDistance, worldPointOfContact ); case Type_frustrum: return false; // TODO: default: worldPointOfContact = NULL; return false; diff --git a/Code/OysterPhysics3D/Ray.h b/Code/OysterPhysics3D/Ray.h index 52131af3..bae600e4 100644 --- a/Code/OysterPhysics3D/Ray.h +++ b/Code/OysterPhysics3D/Ray.h @@ -10,7 +10,6 @@ #ifndef OYSTER_COLLISION_3D_RAY_H #define OYSTER_COLLISION_3D_RAY_H -#include "OysterMath.h" #include "ICollideable.h" namespace Oyster { namespace Collision3D diff --git a/Code/OysterPhysics3D/Sphere.cpp b/Code/OysterPhysics3D/Sphere.cpp index 399fd0be..e31a361c 100644 --- a/Code/OysterPhysics3D/Sphere.cpp +++ b/Code/OysterPhysics3D/Sphere.cpp @@ -55,8 +55,8 @@ bool Sphere::Intersects( const ICollideable &target, ::Oyster::Math::Float3 &wor case Type_sphere: return Utility::Intersect( *this, *(Sphere*)&target, worldPointOfContact ); case Type_plane: return Utility::Intersect( *(Plane*)&target, *this, worldPointOfContact ); // case Type_triangle: return false; // TODO: - case Type_box_axis_aligned: return Utility::Intersect( *(BoxAxisAligned*)&target, *this, worldPointOfContact ); - case Type_box: return Utility::Intersect( *(Box*)&target, *this, worldPointOfContact ); + case Type_box_axis_aligned: return false; // return Utility::Intersect( *(BoxAxisAligned*)&target, *this, worldPointOfContact ); + case Type_box: return false; // return Utility::Intersect( *(Box*)&target, *this, worldPointOfContact ); case Type_frustrum: return false; // TODO: default: worldPointOfContact = Float3::null; return false; diff --git a/Code/OysterPhysics3D/Universe.h b/Code/OysterPhysics3D/Universe.h index fce8179e..aa497cbc 100644 --- a/Code/OysterPhysics3D/Universe.h +++ b/Code/OysterPhysics3D/Universe.h @@ -7,6 +7,7 @@ #define OYSTER_COLLISION_3D_UNIVERSE_H #include "ICollideable.h" +#include "OysterMath.h" namespace Oyster { namespace Collision3D { From d8b323e230d62dba18b9dc61c93738c880fdb240 Mon Sep 17 00:00:00 2001 From: Robin Engman Date: Mon, 16 Dec 2013 10:28:49 +0100 Subject: [PATCH 08/42] Extractable collision point for SphereVSSphere --- Code/OysterPhysics3D/OysterCollision3D.cpp | 26 ++++++++++++++++------ Code/OysterPhysics3D/Point.cpp | 2 +- Code/OysterPhysics3D/Sphere.cpp | 2 +- 3 files changed, 21 insertions(+), 9 deletions(-) diff --git a/Code/OysterPhysics3D/OysterCollision3D.cpp b/Code/OysterPhysics3D/OysterCollision3D.cpp index a5d4117c..994513a6 100644 --- a/Code/OysterPhysics3D/OysterCollision3D.cpp +++ b/Code/OysterPhysics3D/OysterCollision3D.cpp @@ -249,7 +249,7 @@ namespace Oyster { namespace Collision3D { namespace Utility return true; // Passed all tests, is in same position } - bool Intersect( const Point &pointA, const Point &pointB, const ::Oyster::Math::Float3& worldPointOfContact ) + bool Intersect( const Point &pointA, const Point &pointB, ::Oyster::Math::Float3& worldPointOfContact ) { return false; } @@ -284,12 +284,12 @@ namespace Oyster { namespace Collision3D { namespace Utility return false; } - bool Intersect( const Ray &ray, const Point &point, ::Oyster::Math::Float &connectDistance, const ::Oyster::Math::Float3& worldPointOfContact ) + bool Intersect( const Ray &ray, const Point &point, ::Oyster::Math::Float &connectDistance, ::Oyster::Math::Float3& worldPointOfContact ) { return false; } - bool Intersect( const Ray &rayA, const Ray &rayB, ::Oyster::Math::Float &connectDistanceA, ::Oyster::Math::Float &connectDistanceB, const ::Oyster::Math::Float3& worldPointOfContact ) + bool Intersect( const Ray &rayA, const Ray &rayB, ::Oyster::Math::Float &connectDistanceA, ::Oyster::Math::Float &connectDistanceB, ::Oyster::Math::Float3& worldPointOfContact ) { return false; } @@ -336,20 +336,32 @@ namespace Oyster { namespace Collision3D { namespace Utility return false; } - bool Intersect( const Sphere &sphere, const Point &point, const ::Oyster::Math::Float3& worldPointOfContact ) + bool Intersect( const Sphere &sphere, const Point &point, ::Oyster::Math::Float3& worldPointOfContact ) { return false; } - bool Intersect( const Sphere &sphere, const Ray &ray, ::Oyster::Math::Float &connectDistance, const ::Oyster::Math::Float3& worldPointOfContact ) + bool Intersect( const Sphere &sphere, const Ray &ray, ::Oyster::Math::Float &connectDistance, ::Oyster::Math::Float3& worldPointOfContact ) { return false; } - bool Intersect( const Sphere &sphereA, const Sphere &sphereB, const ::Oyster::Math::Float3& worldPointOfContact ) + bool Intersect( const Sphere &sphereA, const Sphere &sphereB, ::Oyster::Math::Float3& worldPointOfContact ) { - Ray sphereRay(sphereA.center, Float3(sphereB.center-sphereA.center).Normalize()); + //Float3 C = sphereA.center; + //C -= sphereB.center; + //Float r = (sphereA.radius + sphereB.radius); + //if (r*r >= C.Dot(C)) + //{ + // Float distance; + + // Intersect(sphereA, Ray(sphereB.center, C.Normalize()), distance); + + // worldPointOfContact = sphereB.center+C.Normalize()*distance; + + // return true; // Intersect detected! + //} return false; } diff --git a/Code/OysterPhysics3D/Point.cpp b/Code/OysterPhysics3D/Point.cpp index 2981f268..ea6691a7 100644 --- a/Code/OysterPhysics3D/Point.cpp +++ b/Code/OysterPhysics3D/Point.cpp @@ -56,7 +56,7 @@ bool Point::Intersects( const ICollideable &target, ::Oyster::Math::Float3 &worl case Type_point: return Utility::Intersect( *this, *(Point*)&target, worldPointOfContact ); case Type_ray: return Utility::Intersect( *(Ray*)&target, *this, ((Ray*)&target)->collisionDistance, worldPointOfContact ); case Type_sphere: return Utility::Intersect( *(Sphere*)&target, *this, worldPointOfContact ); - case Type_plane: return Utility::Intersect( *(Plane*)&target, *this, worldPointOfContact ); + //case Type_plane: return Utility::Intersect( *(Plane*)&target, *this, worldPointOfContact ); // case Type_triangle: return false; // TODO: case Type_box_axis_aligned: return false; // return Utility::Intersect( *(BoxAxisAligned*)&target, *this, worldPointOfContact ); case Type_box: return false; // return Utility::Intersect( *(Box*)&target, *this, worldPointOfContact ); diff --git a/Code/OysterPhysics3D/Sphere.cpp b/Code/OysterPhysics3D/Sphere.cpp index e31a361c..6c7ae223 100644 --- a/Code/OysterPhysics3D/Sphere.cpp +++ b/Code/OysterPhysics3D/Sphere.cpp @@ -53,7 +53,7 @@ bool Sphere::Intersects( const ICollideable &target, ::Oyster::Math::Float3 &wor case Type_point: return Utility::Intersect( *this, *(Point*)&target, worldPointOfContact ); case Type_ray: return Utility::Intersect( *this, *(Ray*)&target, ((Ray*)&target)->collisionDistance, worldPointOfContact ); case Type_sphere: return Utility::Intersect( *this, *(Sphere*)&target, worldPointOfContact ); - case Type_plane: return Utility::Intersect( *(Plane*)&target, *this, worldPointOfContact ); + //case Type_plane: return Utility::Intersect( *(Plane*)&target, *this, worldPointOfContact ); // case Type_triangle: return false; // TODO: case Type_box_axis_aligned: return false; // return Utility::Intersect( *(BoxAxisAligned*)&target, *this, worldPointOfContact ); case Type_box: return false; // return Utility::Intersect( *(Box*)&target, *this, worldPointOfContact ); From 4858f573e625bd3672f618ae8b9536b52857fe2c Mon Sep 17 00:00:00 2001 From: Dander7BD Date: Mon, 16 Dec 2013 10:31:26 +0100 Subject: [PATCH 09/42] Added more collision subs --- Code/OysterPhysics3D/OysterCollision3D.cpp | 72 ++++++++++++++++++++++ Code/OysterPhysics3D/OysterCollision3D.h | 28 ++++++--- Code/OysterPhysics3D/Plane.cpp | 4 +- Code/OysterPhysics3D/Point.cpp | 4 +- Code/OysterPhysics3D/Ray.cpp | 4 +- Code/OysterPhysics3D/Sphere.cpp | 4 +- 6 files changed, 98 insertions(+), 18 deletions(-) diff --git a/Code/OysterPhysics3D/OysterCollision3D.cpp b/Code/OysterPhysics3D/OysterCollision3D.cpp index 994513a6..25a8948b 100644 --- a/Code/OysterPhysics3D/OysterCollision3D.cpp +++ b/Code/OysterPhysics3D/OysterCollision3D.cpp @@ -251,6 +251,7 @@ namespace Oyster { namespace Collision3D { namespace Utility bool Intersect( const Point &pointA, const Point &pointB, ::Oyster::Math::Float3& worldPointOfContact ) { + //! @todo TODO: implement Stub return false; } @@ -286,6 +287,7 @@ namespace Oyster { namespace Collision3D { namespace Utility bool Intersect( const Ray &ray, const Point &point, ::Oyster::Math::Float &connectDistance, ::Oyster::Math::Float3& worldPointOfContact ) { + //! @todo TODO: implement Stub return false; } @@ -338,11 +340,13 @@ namespace Oyster { namespace Collision3D { namespace Utility bool Intersect( const Sphere &sphere, const Point &point, ::Oyster::Math::Float3& worldPointOfContact ) { + //! @todo TODO: implement Stub return false; } bool Intersect( const Sphere &sphere, const Ray &ray, ::Oyster::Math::Float &connectDistance, ::Oyster::Math::Float3& worldPointOfContact ) { + //! @todo TODO: implement Stub return false; } @@ -411,21 +415,25 @@ namespace Oyster { namespace Collision3D { namespace Utility bool Intersect( const Plane &plane, const Point &point, const ::Oyster::Math::Float3& worldPointOfContact ) { + //! @todo TODO: implement Stub return false; } bool Intersect( const Plane &plane, const Ray &ray, ::Oyster::Math::Float &connectDistance, const ::Oyster::Math::Float3& worldPointOfContact ) { + //! @todo TODO: implement Stub return false; } bool Intersect( const Plane &plane, const Sphere &sphere, const ::Oyster::Math::Float3& worldPointOfContact ) { + //! @todo TODO: implement Stub return false; } bool Intersect( const Plane &planeA, const Plane &planeB, const ::Oyster::Math::Float3& worldPointOfContact ) { + //! @todo TODO: implement Stub return false; } @@ -440,6 +448,16 @@ namespace Oyster { namespace Collision3D { namespace Utility return true; } + bool Intersect( const BoxAxisAligned &box, const Point &point, Float3 &worldPointOfContact ) + { // by Dan Andersson + if( Intersect(box, point) ) + { + worldPointOfContact = point.center; + return true; + } + return false; + } + bool Intersect( const BoxAxisAligned &box, const Ray &ray, Float &connectDistance ) { // by Dan Andersson Float tMin = ::std::numeric_limits::max(), @@ -456,6 +474,16 @@ namespace Oyster { namespace Collision3D { namespace Utility return true; } + bool Intersect( const BoxAxisAligned &box, const Ray &ray, Float &connectDistance, Float3 &worldPointOfContact ) + { // by Dan Andersson + if( Intersect(box, ray, connectDistance) ) + { + worldPointOfContact = ray.origin + ray.direction * connectDistance; + return true; + } + return false; + } + bool Intersect( const BoxAxisAligned &box, const Sphere &sphere ) { // by Dan Andersson Float4 e = Max( Float4(box.minVertex - sphere.center, 0.0f), Float4::null ); @@ -465,6 +493,12 @@ namespace Oyster { namespace Collision3D { namespace Utility return true; } + bool Intersect( const BoxAxisAligned &box, const Sphere &sphere, Float3 &worldPointOfContact ) + { + //! @todo TODO: implement stub + return Intersect( box, sphere ); + } + bool Intersect( const BoxAxisAligned &box, const Plane &plane ) { // by Dan Andersson Float e, d; @@ -474,6 +508,12 @@ namespace Oyster { namespace Collision3D { namespace Utility return true; } + bool Intersect( const BoxAxisAligned &box, const Plane &plane, Float3 &worldPointOfContact ) + { + //! @todo TODO: implement stub + return Intersect( box, plane ); + } + // bool Intersect( const BoxAxisAligned &box, const Triangle &triangle ) // { return false; /* TODO: */ } @@ -507,6 +547,16 @@ namespace Oyster { namespace Collision3D { namespace Utility return true; } + bool Intersect( const Box &box, const Point &point, Float3 &worldPointOfContact ) + { // by Dan Andersson + if( Intersect(box, point) ) + { + worldPointOfContact = point.center; + return true; + } + return false; + } + bool Intersect( const Box &box, const Ray &ray, Float &connectDistance ) { // by Dan Andersson Float tMin = ::std::numeric_limits::max(), @@ -522,6 +572,16 @@ namespace Oyster { namespace Collision3D { namespace Utility return true; } + bool Intersect( const Box &box, const Ray &ray, Float &connectDistance, Float3 &worldPointOfContact ) + { // by Dan Andersson + if( Intersect(box, ray, connectDistance) ) + { + worldPointOfContact = ray.origin + ray.direction * connectDistance; + return true; + } + return false; + } + bool Intersect( const Box &box, const Sphere &sphere ) { // by Dan Andersson // center: sphere's center in the box's view space @@ -534,6 +594,12 @@ namespace Oyster { namespace Collision3D { namespace Utility return true; } + bool Intersect( const Box &box, const Sphere &sphere, Float3 &worldPointOfContact ) + { + //! @todo TODO: implement stub + return Intersect( box, sphere ); + } + bool Intersect( const Box &box, const Plane &plane ) {// by Dan Andersson Float e, d; @@ -543,6 +609,12 @@ namespace Oyster { namespace Collision3D { namespace Utility return true; } + bool Intersect( const Box &box, const Plane &plane, Float3 &worldPointOfContact ) + { + //! @todo TODO: implement stub + return Intersect( box, plane ); + } + bool Intersect( const Box &boxA, const BoxAxisAligned &boxB ) { // by Dan Andersson Float3 alignedOffsetBoundaries = (boxB.maxVertex - boxB.minVertex) * 0.5f, diff --git a/Code/OysterPhysics3D/OysterCollision3D.h b/Code/OysterPhysics3D/OysterCollision3D.h index 7920a885..6ec28625 100644 --- a/Code/OysterPhysics3D/OysterCollision3D.h +++ b/Code/OysterPhysics3D/OysterCollision3D.h @@ -25,28 +25,28 @@ namespace Oyster { namespace Collision3D { namespace Utility void Compare( ::Oyster::Math::Float &connectOffset, const Plane &plane, const Point &point ); bool Intersect( const Point &pointA, const Point &pointB ); - bool Intersect( const Point &pointA, const Point &pointB, ::Oyster::Math::Float3& worldPointOfContact ); + bool Intersect( const Point &pointA, const Point &pointB, ::Oyster::Math::Float3 &worldPointOfContact ); bool Intersect( const Ray &ray, const Point &point, ::Oyster::Math::Float &connectDistance ); bool Intersect( const Ray &rayA, const Ray &rayB, ::Oyster::Math::Float &connectDistanceA, ::Oyster::Math::Float &connectDistanceB ); - bool Intersect( const Ray &ray, const Point &point, ::Oyster::Math::Float &connectDistance, ::Oyster::Math::Float3& worldPointOfContact ); - bool Intersect( const Ray &rayA, const Ray &rayB, ::Oyster::Math::Float &connectDistanceA, ::Oyster::Math::Float &connectDistanceB, ::Oyster::Math::Float3& worldPointOfContact ); + bool Intersect( const Ray &ray, const Point &point, ::Oyster::Math::Float &connectDistance, ::Oyster::Math::Float3 &worldPointOfContact ); + bool Intersect( const Ray &rayA, const Ray &rayB, ::Oyster::Math::Float &connectDistanceA, ::Oyster::Math::Float &connectDistanceB, ::Oyster::Math::Float3 &worldPointOfContact ); bool Intersect( const Sphere &sphere, const Point &point ); bool Intersect( const Sphere &sphere, const Ray &ray, ::Oyster::Math::Float &connectDistance ); bool Intersect( const Sphere &sphereA, const Sphere &sphereB ); - bool Intersect( const Sphere &sphere, const Point &point, ::Oyster::Math::Float3& worldPointOfContact ); - bool Intersect( const Sphere &sphere, const Ray &ray, ::Oyster::Math::Float &connectDistance, ::Oyster::Math::Float3& worldPointOfContact ); - bool Intersect( const Sphere &sphereA, const Sphere &sphereB, ::Oyster::Math::Float3& worldPointOfContact ); + bool Intersect( const Sphere &sphere, const Point &point, ::Oyster::Math::Float3 &worldPointOfContact ); + bool Intersect( const Sphere &sphere, const Ray &ray, ::Oyster::Math::Float &connectDistance, ::Oyster::Math::Float3 &worldPointOfContact ); + bool Intersect( const Sphere &sphereA, const Sphere &sphereB, ::Oyster::Math::Float3 &worldPointOfContact ); bool Intersect( const Plane &plane, const Point &point ); bool Intersect( const Plane &plane, const Ray &ray, ::Oyster::Math::Float &connectDistance ); bool Intersect( const Plane &plane, const Sphere &sphere ); bool Intersect( const Plane &planeA, const Plane &planeB ); - bool Intersect( const Plane &plane, const Point &point, ::Oyster::Math::Float3& worldPointOfContact ); - bool Intersect( const Plane &plane, const Ray &ray, ::Oyster::Math::Float &connectDistance, ::Oyster::Math::Float3& worldPointOfContact ); - bool Intersect( const Plane &plane, const Sphere &sphere, ::Oyster::Math::Float3& worldPointOfContact ); - bool Intersect( const Plane &planeA, const Plane &planeB, ::Oyster::Math::Float3& worldPointOfContact ); + bool Intersect( const Plane &plane, const Point &point, ::Oyster::Math::Float3 &worldPointOfContact ); + bool Intersect( const Plane &plane, const Ray &ray, ::Oyster::Math::Float &connectDistance, ::Oyster::Math::Float3 &worldPointOfContact ); + bool Intersect( const Plane &plane, const Sphere &sphere, ::Oyster::Math::Float3 &worldPointOfContact ); + bool Intersect( const Plane &planeA, const Plane &planeB, ::Oyster::Math::Float3 &worldPointOfContact ); // bool Intersect( const Triangle &triangle, const Point &point, ? ); // bool Intersect( const Triangle &triangle, const Ray &ray, ? ); @@ -55,16 +55,24 @@ namespace Oyster { namespace Collision3D { namespace Utility // bool Intersect( const Triangle &triangleA, const Triangle &triangleB, ? ); bool Intersect( const BoxAxisAligned &box, const Point &point ); + bool Intersect( const BoxAxisAligned &box, const Point &point, ::Oyster::Math::Float3 &worldPointOfContact ); bool Intersect( const BoxAxisAligned &box, const Ray &ray, ::Oyster::Math::Float &connectDistance ); + bool Intersect( const BoxAxisAligned &box, const Ray &ray, ::Oyster::Math::Float &connectDistance, ::Oyster::Math::Float3 &worldPointOfContact ); bool Intersect( const BoxAxisAligned &box, const Sphere &sphere ); + bool Intersect( const BoxAxisAligned &box, const Sphere &sphere, ::Oyster::Math::Float3 &worldPointOfContact ); bool Intersect( const BoxAxisAligned &box, const Plane &plane ); + bool Intersect( const BoxAxisAligned &box, const Plane &plane, ::Oyster::Math::Float3 &worldPointOfContact ); // bool Intersect( const BoxAxisAligned &box, const Triangle &triangle ); bool Intersect( const BoxAxisAligned &boxA, const BoxAxisAligned &boxB ); bool Intersect( const Box &box, const Point &point ); + bool Intersect( const Box &box, const Point &point, ::Oyster::Math::Float3 &worldPointOfContact ); bool Intersect( const Box &box, const Ray &ray, ::Oyster::Math::Float &connectDistance ); + bool Intersect( const Box &box, const Ray &ray, ::Oyster::Math::Float &connectDistance, ::Oyster::Math::Float3 &worldPointOfContact ); bool Intersect( const Box &box, const Sphere &sphere ); + bool Intersect( const Box &box, const Sphere &sphere, ::Oyster::Math::Float3 &worldPointOfContact ); bool Intersect( const Box &box, const Plane &plane ); + bool Intersect( const Box &box, const Plane &plane, ::Oyster::Math::Float3 &worldPointOfContact ); // bool Intersect( const Box &box, const Triangle &triangle, ? ); bool Intersect( const Box &boxA, const BoxAxisAligned &boxB ); bool Intersect( const Box &boxA, const Box &boxB ); diff --git a/Code/OysterPhysics3D/Plane.cpp b/Code/OysterPhysics3D/Plane.cpp index f44ba810..87d20c84 100644 --- a/Code/OysterPhysics3D/Plane.cpp +++ b/Code/OysterPhysics3D/Plane.cpp @@ -60,8 +60,8 @@ bool Plane::Intersects( const ICollideable &target, ::Oyster::Math::Float3 &worl case Type_sphere: return Utility::Intersect( *this, *(Sphere*)&target, worldPointOfContact ); case Type_plane: return Utility::Intersect( *(Plane*)&target, *this, worldPointOfContact ); // case Type_triangle: return false; // TODO: - case Type_box_axis_aligned: return false; // return Utility::Intersect( *(BoxAxisAligned*)&target, *this, worldPointOfContact ); - case Type_box: return false; // return Utility::Intersect( *(Box*)&target, *this, worldPointOfContact ); + case Type_box_axis_aligned: return Utility::Intersect( *(BoxAxisAligned*)&target, *this, worldPointOfContact ); + case Type_box: return Utility::Intersect( *(Box*)&target, *this, worldPointOfContact ); case Type_frustrum: return false; // TODO: default: worldPointOfContact = NULL; return false; diff --git a/Code/OysterPhysics3D/Point.cpp b/Code/OysterPhysics3D/Point.cpp index ea6691a7..8b1ab081 100644 --- a/Code/OysterPhysics3D/Point.cpp +++ b/Code/OysterPhysics3D/Point.cpp @@ -58,8 +58,8 @@ bool Point::Intersects( const ICollideable &target, ::Oyster::Math::Float3 &worl case Type_sphere: return Utility::Intersect( *(Sphere*)&target, *this, worldPointOfContact ); //case Type_plane: return Utility::Intersect( *(Plane*)&target, *this, worldPointOfContact ); // case Type_triangle: return false; // TODO: - case Type_box_axis_aligned: return false; // return Utility::Intersect( *(BoxAxisAligned*)&target, *this, worldPointOfContact ); - case Type_box: return false; // return Utility::Intersect( *(Box*)&target, *this, worldPointOfContact ); + case Type_box_axis_aligned: return Utility::Intersect( *(BoxAxisAligned*)&target, *this, worldPointOfContact ); + case Type_box: return Utility::Intersect( *(Box*)&target, *this, worldPointOfContact ); case Type_frustrum: return false; // TODO: default: worldPointOfContact = NULL; return false; diff --git a/Code/OysterPhysics3D/Ray.cpp b/Code/OysterPhysics3D/Ray.cpp index 86823b69..d1e81974 100644 --- a/Code/OysterPhysics3D/Ray.cpp +++ b/Code/OysterPhysics3D/Ray.cpp @@ -67,8 +67,8 @@ bool Ray::Intersects( const ICollideable &target, ::Oyster::Math::Float3 &worldP case Type_sphere: return Utility::Intersect( *(Sphere*)&target, *this, this->collisionDistance, worldPointOfContact ); case Type_plane: return Utility::Intersect( *(Plane*)&target, *this, this->collisionDistance, worldPointOfContact ); // case Type_triangle: return false; // TODO: - case Type_box_axis_aligned: return false; // return Utility::Intersect( *(BoxAxisAligned*)&target, *this, this->collisionDistance, worldPointOfContact ); - case Type_box: return false; // return Utility::Intersect( *(Box*)&target, *this, this->collisionDistance, worldPointOfContact ); + case Type_box_axis_aligned: return Utility::Intersect( *(BoxAxisAligned*)&target, *this, this->collisionDistance, worldPointOfContact ); + case Type_box: return Utility::Intersect( *(Box*)&target, *this, this->collisionDistance, worldPointOfContact ); case Type_frustrum: return false; // TODO: default: worldPointOfContact = NULL; return false; diff --git a/Code/OysterPhysics3D/Sphere.cpp b/Code/OysterPhysics3D/Sphere.cpp index 6c7ae223..efec7c20 100644 --- a/Code/OysterPhysics3D/Sphere.cpp +++ b/Code/OysterPhysics3D/Sphere.cpp @@ -55,8 +55,8 @@ bool Sphere::Intersects( const ICollideable &target, ::Oyster::Math::Float3 &wor case Type_sphere: return Utility::Intersect( *this, *(Sphere*)&target, worldPointOfContact ); //case Type_plane: return Utility::Intersect( *(Plane*)&target, *this, worldPointOfContact ); // case Type_triangle: return false; // TODO: - case Type_box_axis_aligned: return false; // return Utility::Intersect( *(BoxAxisAligned*)&target, *this, worldPointOfContact ); - case Type_box: return false; // return Utility::Intersect( *(Box*)&target, *this, worldPointOfContact ); + case Type_box_axis_aligned: return Utility::Intersect( *(BoxAxisAligned*)&target, *this, worldPointOfContact ); + case Type_box: return Utility::Intersect( *(Box*)&target, *this, worldPointOfContact ); case Type_frustrum: return false; // TODO: default: worldPointOfContact = Float3::null; return false; From ec6cd72f3c42e261b2dc6b249e9c7a5b2e6dbb2c Mon Sep 17 00:00:00 2001 From: Dander7BD Date: Mon, 16 Dec 2013 13:33:33 +0100 Subject: [PATCH 10/42] SeperatingAxisTest_AxisAlignedVsTransformedBox overloaded --- Code/OysterPhysics3D/OysterCollision3D.cpp | 183 +++++++++++++++++++++ 1 file changed, 183 insertions(+) diff --git a/Code/OysterPhysics3D/OysterCollision3D.cpp b/Code/OysterPhysics3D/OysterCollision3D.cpp index 25a8948b..1dcd24ab 100644 --- a/Code/OysterPhysics3D/OysterCollision3D.cpp +++ b/Code/OysterPhysics3D/OysterCollision3D.cpp @@ -203,6 +203,188 @@ namespace Oyster { namespace Collision3D { namespace Utility return true; } + + bool SeperatingAxisTest_AxisAlignedVsTransformedBox( const Float3 &boundingOffsetA, const Float3 &boundingOffsetB, const Float4x4 &rotationB, const Float3 &worldOffset, Float3 &worldPointOfContact ) + { // by Dan Andersson + + /***************************************************************** + * Uses the Seperating Axis Theorem + * if( |t dot s| > hA dot |s * RA| + hB dot |s * RB| ) then not intersecting + * |t dot s| > hA dot |s| + hB dot |s * RB| .. as RA = I + * + * t: objectB's offset from objectA [worldOffset] + * s: current comparison axis + * hA: boundingReach vector of objectA. Only absolute values is assumed. [boundingOffsetA] + * hB: boundingReach vector of objectB. Only absolute values is assumed. [boundingOffsetB] + * RA: rotation matrix of objectA. Is identity matrix here, thus omitted. + * RB: rotation matrix of objectB. Is transformed into objectA's view at this point. [rotationB] + * + * Note: s * RB = (RB^T * s)^T = (RB^-1 * s)^T .... vector == vector^T + *****************************************************************/ + + /***************************************************************** + * Distance Alghorithm based on .. something Dan came up with + * pi = si * ( |t dot si| * (hA dot |si|) / (hA dot |si| + hB dot |si * RB|) ) + * p = point of contact + * = ( p1 + p2 + ... + p13 + p14 ) / 5 + *****************************************************************/ + + Float4 t = Float4( worldOffset, 0.0f ), + s = Float4::standard_unit_x, + hA = Float4( boundingOffsetA, 0.0f ), + hB = Float4( boundingOffsetB, 0.0f ); + Float centerSeperation = Abs( t.Dot(s) ), + eA = hA.Dot( Abs(s) ), + edgeSeperation = eA + hB.Dot( Abs(s * rotationB) ); + if( centerSeperation > edgeSeperation ) + { // no intersection + return false; + } + Float4 sumPoints = s * ( centerSeperation * eA / edgeSeperation ); + + s = Float4::standard_unit_y; + centerSeperation = Abs( t.Dot(s) ); + eA = hA.Dot( Abs(s) ); + edgeSeperation = eA + hB.Dot( Abs(s * rotationB) ); + if( centerSeperation > edgeSeperation ) + { // no intersection + return false; + } + sumPoints += s * ( centerSeperation * eA / edgeSeperation ); + + s = Float4::standard_unit_z; + centerSeperation = Abs( t.Dot(s) ); + eA = hA.Dot( Abs(s) ); + edgeSeperation = eA + hB.Dot( Abs(s * rotationB) ); + if( centerSeperation > edgeSeperation ) + { // no intersection + return false; + } + sumPoints += s * ( centerSeperation * eA / edgeSeperation ); + + s = rotationB.v[0]; + centerSeperation = Abs( t.Dot(s) ); + eA = hA.Dot( Abs(s) ); + edgeSeperation = eA + hB.Dot( Abs(s * rotationB) ); + if( centerSeperation > edgeSeperation ) + { // no intersection + return false; + } + sumPoints += s * ( centerSeperation * eA / edgeSeperation ); + + s = rotationB.v[1]; + centerSeperation = Abs( t.Dot(s) ); + eA = hA.Dot( Abs(s) ); + edgeSeperation = eA + hB.Dot( Abs(s * rotationB) ); + if( centerSeperation > edgeSeperation ) + { // no intersection + return false; + } + sumPoints += s * ( centerSeperation * eA / edgeSeperation ); + + s = rotationB.v[2]; + centerSeperation = Abs( t.Dot(s) ); + eA = hA.Dot( Abs(s) ); + edgeSeperation = eA + hB.Dot( Abs(s * rotationB) ); + if( centerSeperation > edgeSeperation ) + { // no intersection + return false; + } + sumPoints += s * ( centerSeperation * eA / edgeSeperation ); + + s = Float4( Float3::standard_unit_x.Cross(rotationB.v[0].xyz), 0.0f ); + centerSeperation = Abs( t.Dot(s) ); + eA = hA.Dot( Abs(s) ); + edgeSeperation = eA + hB.Dot( Abs(s * rotationB) ); + if( centerSeperation > edgeSeperation ) + { // no intersection + return false; + } + sumPoints += s.GetNormalized() * ( centerSeperation * eA / edgeSeperation ); + + s = Float4( Float3::standard_unit_x.Cross(rotationB.v[1].xyz), 0.0f ); + centerSeperation = Abs( t.Dot(s) ); + eA = hA.Dot( Abs(s) ); + edgeSeperation = eA + hB.Dot( Abs(s * rotationB) ); + if( centerSeperation > edgeSeperation ) + { // no intersection + return false; + } + sumPoints += s.GetNormalized() * ( centerSeperation * eA / edgeSeperation ); + + s = Float4( Float3::standard_unit_x.Cross(rotationB.v[2].xyz), 0.0f ); + centerSeperation = Abs( t.Dot(s) ); + eA = hA.Dot( Abs(s) ); + edgeSeperation = eA + hB.Dot( Abs(s * rotationB) ); + if( centerSeperation > edgeSeperation ) + { // no intersection + return false; + } + sumPoints += s.GetNormalized() * ( centerSeperation * eA / edgeSeperation ); + + s = Float4( Float3::standard_unit_y.Cross(rotationB.v[0].xyz), 0.0f ); + centerSeperation = Abs( t.Dot(s) ); + eA = hA.Dot( Abs(s) ); + edgeSeperation = eA + hB.Dot( Abs(s * rotationB) ); + if( centerSeperation > edgeSeperation ) + { // no intersection + return false; + } + sumPoints += s.GetNormalized() * ( centerSeperation * eA / edgeSeperation ); + + s = Float4( Float3::standard_unit_y.Cross(rotationB.v[1].xyz), 0.0f ); + centerSeperation = Abs( t.Dot(s) ); + eA = hA.Dot( Abs(s) ); + edgeSeperation = eA + hB.Dot( Abs(s * rotationB) ); + if( centerSeperation > edgeSeperation ) + { // no intersection + return false; + } + sumPoints += s.GetNormalized() * ( centerSeperation * eA / edgeSeperation ); + + s = Float4( Float3::standard_unit_y.Cross(rotationB.v[2].xyz), 0.0f ); + centerSeperation = Abs( t.Dot(s) ); + eA = hA.Dot( Abs(s) ); + edgeSeperation = eA + hB.Dot( Abs(s * rotationB) ); + if( centerSeperation > edgeSeperation ) + { // no intersection + return false; + } + sumPoints += s.GetNormalized() * ( centerSeperation * eA / edgeSeperation ); + + s = Float4( Float3::standard_unit_z.Cross(rotationB.v[0].xyz), 0.0f ); + centerSeperation = Abs( t.Dot(s) ); + eA = hA.Dot( Abs(s) ); + edgeSeperation = eA + hB.Dot( Abs(s * rotationB) ); + if( centerSeperation > edgeSeperation ) + { // no intersection + return false; + } + sumPoints += s.GetNormalized() * ( centerSeperation * eA / edgeSeperation ); + + s = Float4( Float3::standard_unit_z.Cross(rotationB.v[1].xyz), 0.0f ); + centerSeperation = Abs( t.Dot(s) ); + eA = hA.Dot( Abs(s) ); + edgeSeperation = eA + hB.Dot( Abs(s * rotationB) ); + if( centerSeperation > edgeSeperation ) + { // no intersection + return false; + } + sumPoints += s.GetNormalized() * ( centerSeperation * eA / edgeSeperation ); + + s = Float4( Float3::standard_unit_z.Cross(rotationB.v[2].xyz), 0.0f ); + centerSeperation = Abs( t.Dot(s) ); + eA = hA.Dot( Abs(s) ); + edgeSeperation = eA + hB.Dot( Abs(s * rotationB) ); + if( centerSeperation > edgeSeperation ) + { // no intersection + return false; + } + sumPoints += s.GetNormalized() * ( centerSeperation * eA / edgeSeperation ); + + worldPointOfContact = ((1.0f/5.0f) * sumPoints).xyz; + return true; + } } // PUBLIC BODY ////////////////////////////////////////////////////// @@ -293,6 +475,7 @@ namespace Oyster { namespace Collision3D { namespace Utility bool Intersect( const Ray &rayA, const Ray &rayB, ::Oyster::Math::Float &connectDistanceA, ::Oyster::Math::Float &connectDistanceB, ::Oyster::Math::Float3& worldPointOfContact ) { + //! @todo TODO: implement Stub return false; } From a03568e19e6fd5ac1304d53f6aad0b192ef48eba Mon Sep 17 00:00:00 2001 From: Dander7BD Date: Tue, 17 Dec 2013 12:09:20 +0100 Subject: [PATCH 11/42] Updated formula for BoxVsBox point of contact good enough approximation. Tested --- Code/OysterPhysics3D/OysterCollision3D.cpp | 79 ++++++++++------------ 1 file changed, 35 insertions(+), 44 deletions(-) diff --git a/Code/OysterPhysics3D/OysterCollision3D.cpp b/Code/OysterPhysics3D/OysterCollision3D.cpp index 1dcd24ab..12b3d040 100644 --- a/Code/OysterPhysics3D/OysterCollision3D.cpp +++ b/Code/OysterPhysics3D/OysterCollision3D.cpp @@ -224,165 +224,156 @@ namespace Oyster { namespace Collision3D { namespace Utility /***************************************************************** * Distance Alghorithm based on .. something Dan came up with - * pi = si * ( |t dot si| * (hA dot |si|) / (hA dot |si| + hB dot |si * RB|) ) - * p = point of contact - * = ( p1 + p2 + ... + p13 + p14 ) / 5 + * pi = si * ( (t dot si) * (hA dot |si|) / (hA dot |si| + hB dot |si * RB|) ) + * p = estimated point of contact + * = ( p1 + p2 + ... + p5 + p6 ) / 2 *****************************************************************/ Float4 t = Float4( worldOffset, 0.0f ), s = Float4::standard_unit_x, hA = Float4( boundingOffsetA, 0.0f ), hB = Float4( boundingOffsetB, 0.0f ); - Float centerSeperation = Abs( t.Dot(s) ), + Float centerSeperation = t.Dot(s), eA = hA.Dot( Abs(s) ), edgeSeperation = eA + hB.Dot( Abs(s * rotationB) ); - if( centerSeperation > edgeSeperation ) + if( Abs(centerSeperation) > edgeSeperation ) { // no intersection return false; } Float4 sumPoints = s * ( centerSeperation * eA / edgeSeperation ); s = Float4::standard_unit_y; - centerSeperation = Abs( t.Dot(s) ); + centerSeperation = t.Dot(s); eA = hA.Dot( Abs(s) ); edgeSeperation = eA + hB.Dot( Abs(s * rotationB) ); - if( centerSeperation > edgeSeperation ) + if( Abs(centerSeperation) > edgeSeperation ) { // no intersection return false; } sumPoints += s * ( centerSeperation * eA / edgeSeperation ); s = Float4::standard_unit_z; - centerSeperation = Abs( t.Dot(s) ); + centerSeperation = t.Dot(s); eA = hA.Dot( Abs(s) ); edgeSeperation = eA + hB.Dot( Abs(s * rotationB) ); - if( centerSeperation > edgeSeperation ) + if( Abs(centerSeperation) > edgeSeperation ) { // no intersection return false; } sumPoints += s * ( centerSeperation * eA / edgeSeperation ); s = rotationB.v[0]; - centerSeperation = Abs( t.Dot(s) ); + centerSeperation = t.Dot(s); eA = hA.Dot( Abs(s) ); edgeSeperation = eA + hB.Dot( Abs(s * rotationB) ); - if( centerSeperation > edgeSeperation ) + if( Abs(centerSeperation) > edgeSeperation ) { // no intersection return false; } sumPoints += s * ( centerSeperation * eA / edgeSeperation ); s = rotationB.v[1]; - centerSeperation = Abs( t.Dot(s) ); + centerSeperation = t.Dot(s); eA = hA.Dot( Abs(s) ); edgeSeperation = eA + hB.Dot( Abs(s * rotationB) ); - if( centerSeperation > edgeSeperation ) + if( Abs(centerSeperation) > edgeSeperation ) { // no intersection return false; } sumPoints += s * ( centerSeperation * eA / edgeSeperation ); s = rotationB.v[2]; - centerSeperation = Abs( t.Dot(s) ); + centerSeperation = t.Dot(s); eA = hA.Dot( Abs(s) ); edgeSeperation = eA + hB.Dot( Abs(s * rotationB) ); - if( centerSeperation > edgeSeperation ) + if( Abs(centerSeperation) > edgeSeperation ) { // no intersection return false; } - sumPoints += s * ( centerSeperation * eA / edgeSeperation ); + sumPoints += s * ( centerSeperation * eA / edgeSeperation ); // enough point of contact data gathered for approximative result. s = Float4( Float3::standard_unit_x.Cross(rotationB.v[0].xyz), 0.0f ); - centerSeperation = Abs( t.Dot(s) ); + centerSeperation = t.Dot(s); eA = hA.Dot( Abs(s) ); edgeSeperation = eA + hB.Dot( Abs(s * rotationB) ); - if( centerSeperation > edgeSeperation ) + if( Abs(centerSeperation) > edgeSeperation ) { // no intersection return false; } - sumPoints += s.GetNormalized() * ( centerSeperation * eA / edgeSeperation ); s = Float4( Float3::standard_unit_x.Cross(rotationB.v[1].xyz), 0.0f ); - centerSeperation = Abs( t.Dot(s) ); + centerSeperation = t.Dot(s); eA = hA.Dot( Abs(s) ); edgeSeperation = eA + hB.Dot( Abs(s * rotationB) ); - if( centerSeperation > edgeSeperation ) + if( Abs(centerSeperation) > edgeSeperation ) { // no intersection return false; } - sumPoints += s.GetNormalized() * ( centerSeperation * eA / edgeSeperation ); s = Float4( Float3::standard_unit_x.Cross(rotationB.v[2].xyz), 0.0f ); - centerSeperation = Abs( t.Dot(s) ); + centerSeperation = t.Dot(s); eA = hA.Dot( Abs(s) ); edgeSeperation = eA + hB.Dot( Abs(s * rotationB) ); - if( centerSeperation > edgeSeperation ) + if( Abs(centerSeperation) > edgeSeperation ) { // no intersection return false; } - sumPoints += s.GetNormalized() * ( centerSeperation * eA / edgeSeperation ); s = Float4( Float3::standard_unit_y.Cross(rotationB.v[0].xyz), 0.0f ); - centerSeperation = Abs( t.Dot(s) ); + centerSeperation = t.Dot(s); eA = hA.Dot( Abs(s) ); edgeSeperation = eA + hB.Dot( Abs(s * rotationB) ); - if( centerSeperation > edgeSeperation ) + if( Abs(centerSeperation) > edgeSeperation ) { // no intersection return false; } - sumPoints += s.GetNormalized() * ( centerSeperation * eA / edgeSeperation ); s = Float4( Float3::standard_unit_y.Cross(rotationB.v[1].xyz), 0.0f ); - centerSeperation = Abs( t.Dot(s) ); + centerSeperation = t.Dot(s); eA = hA.Dot( Abs(s) ); edgeSeperation = eA + hB.Dot( Abs(s * rotationB) ); - if( centerSeperation > edgeSeperation ) + if( Abs(centerSeperation) > edgeSeperation ) { // no intersection return false; } - sumPoints += s.GetNormalized() * ( centerSeperation * eA / edgeSeperation ); s = Float4( Float3::standard_unit_y.Cross(rotationB.v[2].xyz), 0.0f ); - centerSeperation = Abs( t.Dot(s) ); + centerSeperation = t.Dot(s); eA = hA.Dot( Abs(s) ); edgeSeperation = eA + hB.Dot( Abs(s * rotationB) ); - if( centerSeperation > edgeSeperation ) + if( Abs(centerSeperation) > edgeSeperation ) { // no intersection return false; } - sumPoints += s.GetNormalized() * ( centerSeperation * eA / edgeSeperation ); s = Float4( Float3::standard_unit_z.Cross(rotationB.v[0].xyz), 0.0f ); - centerSeperation = Abs( t.Dot(s) ); + centerSeperation = t.Dot(s); eA = hA.Dot( Abs(s) ); edgeSeperation = eA + hB.Dot( Abs(s * rotationB) ); - if( centerSeperation > edgeSeperation ) + if( Abs(centerSeperation) > edgeSeperation ) { // no intersection return false; } - sumPoints += s.GetNormalized() * ( centerSeperation * eA / edgeSeperation ); s = Float4( Float3::standard_unit_z.Cross(rotationB.v[1].xyz), 0.0f ); - centerSeperation = Abs( t.Dot(s) ); + centerSeperation = t.Dot(s); eA = hA.Dot( Abs(s) ); edgeSeperation = eA + hB.Dot( Abs(s * rotationB) ); - if( centerSeperation > edgeSeperation ) + if( Abs(centerSeperation) > edgeSeperation ) { // no intersection return false; } - sumPoints += s.GetNormalized() * ( centerSeperation * eA / edgeSeperation ); s = Float4( Float3::standard_unit_z.Cross(rotationB.v[2].xyz), 0.0f ); - centerSeperation = Abs( t.Dot(s) ); + centerSeperation = t.Dot(s); eA = hA.Dot( Abs(s) ); edgeSeperation = eA + hB.Dot( Abs(s * rotationB) ); - if( centerSeperation > edgeSeperation ) + if( Abs(centerSeperation) > edgeSeperation ) { // no intersection return false; } - sumPoints += s.GetNormalized() * ( centerSeperation * eA / edgeSeperation ); - worldPointOfContact = ((1.0f/5.0f) * sumPoints).xyz; + worldPointOfContact = (0.5f * sumPoints).xyz; return true; } } From 632570f66b8dc14be892905dc231614d22179f01 Mon Sep 17 00:00:00 2001 From: Dander7BD Date: Tue, 17 Dec 2013 12:27:23 +0100 Subject: [PATCH 12/42] Updated the BoxVsBox collision alghorithm and added overloaded --- Code/OysterPhysics3D/OysterCollision3D.cpp | 55 +++++++++++++--------- Code/OysterPhysics3D/OysterCollision3D.h | 1 + 2 files changed, 34 insertions(+), 22 deletions(-) diff --git a/Code/OysterPhysics3D/OysterCollision3D.cpp b/Code/OysterPhysics3D/OysterCollision3D.cpp index 12b3d040..98aacd24 100644 --- a/Code/OysterPhysics3D/OysterCollision3D.cpp +++ b/Code/OysterPhysics3D/OysterCollision3D.cpp @@ -81,7 +81,7 @@ namespace Oyster { namespace Collision3D { namespace Utility centerDistance = box.center.Dot(plane.normal) + plane.phasing; // distance between box center and plane } - bool SeperatingAxisTest_AxisAlignedVsTransformedBox( const Float3 &boundingOffsetA, const Float3 &boundingOffsetB, const Float4x4 &rotationB, const Float3 &worldOffset ) + bool SeperatingAxisTest_AxisAlignedVsTransformedBox( const Float3 &boundingOffsetA, const Float3 &boundingOffsetB, const Float4x4 &rotationB, const Float4 &worldOffset ) { // by Dan Andersson /***************************************************************** @@ -121,19 +121,19 @@ namespace Oyster { namespace Collision3D { namespace Utility } // s = RB.v[0].xyz - if( Abs(worldOffset.Dot(rotationB.v[0].xyz)) > boundingOffsetA.Dot(absRotationB.v[0].xyz) + boundingOffsetB.x ) + if( Abs(worldOffset.Dot(rotationB.v[0])) > boundingOffsetA.Dot(absRotationB.v[0].xyz) + boundingOffsetB.x ) { // |t dot s| > hA dot |s| + hB dot |s * RB| -->> |t dot s| > hA dot |s| + hB dot |{1, 0, 0}| -->> |t dot s| > hA dot |s| + hB.x return false; } // s = RB.v[1].xyz - if( Abs(worldOffset.Dot(rotationB.v[1].xyz)) > boundingOffsetA.Dot(absRotationB.v[1].xyz) + boundingOffsetB.y ) + if( Abs(worldOffset.Dot(rotationB.v[1])) > boundingOffsetA.Dot(absRotationB.v[1].xyz) + boundingOffsetB.y ) { // |t dot s| > hA dot |s| + hB.y return false; } // s = RB.v[2].xyz - if( Abs(worldOffset.Dot(rotationB.v[2].xyz)) > boundingOffsetA.Dot(absRotationB.v[2].xyz) + boundingOffsetB.z ) + if( Abs(worldOffset.Dot(rotationB.v[2])) > boundingOffsetA.Dot(absRotationB.v[2].xyz) + boundingOffsetB.z ) { // |t dot s| > hA dot |s| + hB.z return false; } @@ -204,7 +204,7 @@ namespace Oyster { namespace Collision3D { namespace Utility return true; } - bool SeperatingAxisTest_AxisAlignedVsTransformedBox( const Float3 &boundingOffsetA, const Float3 &boundingOffsetB, const Float4x4 &rotationB, const Float3 &worldOffset, Float3 &worldPointOfContact ) + bool SeperatingAxisTest_AxisAlignedVsTransformedBox( const Float3 &boundingOffsetA, const Float3 &boundingOffsetB, const Float4x4 &rotationB, const Float4 &worldOffset, Float4 &worldPointOfContact ) { // by Dan Andersson /***************************************************************** @@ -229,8 +229,8 @@ namespace Oyster { namespace Collision3D { namespace Utility * = ( p1 + p2 + ... + p5 + p6 ) / 2 *****************************************************************/ - Float4 t = Float4( worldOffset, 0.0f ), - s = Float4::standard_unit_x, + const Float4 &t = worldOffset; + Float4 s = Float4::standard_unit_x, hA = Float4( boundingOffsetA, 0.0f ), hB = Float4( boundingOffsetB, 0.0f ); Float centerSeperation = t.Dot(s), @@ -240,7 +240,7 @@ namespace Oyster { namespace Collision3D { namespace Utility { // no intersection return false; } - Float4 sumPoints = s * ( centerSeperation * eA / edgeSeperation ); + worldPointOfContact = s * ( centerSeperation * eA / edgeSeperation ); s = Float4::standard_unit_y; centerSeperation = t.Dot(s); @@ -250,7 +250,7 @@ namespace Oyster { namespace Collision3D { namespace Utility { // no intersection return false; } - sumPoints += s * ( centerSeperation * eA / edgeSeperation ); + worldPointOfContact += s * ( centerSeperation * eA / edgeSeperation ); s = Float4::standard_unit_z; centerSeperation = t.Dot(s); @@ -260,7 +260,7 @@ namespace Oyster { namespace Collision3D { namespace Utility { // no intersection return false; } - sumPoints += s * ( centerSeperation * eA / edgeSeperation ); + worldPointOfContact += s * ( centerSeperation * eA / edgeSeperation ); s = rotationB.v[0]; centerSeperation = t.Dot(s); @@ -270,7 +270,7 @@ namespace Oyster { namespace Collision3D { namespace Utility { // no intersection return false; } - sumPoints += s * ( centerSeperation * eA / edgeSeperation ); + worldPointOfContact += s * ( centerSeperation * eA / edgeSeperation ); s = rotationB.v[1]; centerSeperation = t.Dot(s); @@ -280,7 +280,7 @@ namespace Oyster { namespace Collision3D { namespace Utility { // no intersection return false; } - sumPoints += s * ( centerSeperation * eA / edgeSeperation ); + worldPointOfContact += s * ( centerSeperation * eA / edgeSeperation ); s = rotationB.v[2]; centerSeperation = t.Dot(s); @@ -290,7 +290,7 @@ namespace Oyster { namespace Collision3D { namespace Utility { // no intersection return false; } - sumPoints += s * ( centerSeperation * eA / edgeSeperation ); // enough point of contact data gathered for approximative result. + worldPointOfContact += s * ( centerSeperation * eA / edgeSeperation ); // enough point of contact data gathered for approximative result. s = Float4( Float3::standard_unit_x.Cross(rotationB.v[0].xyz), 0.0f ); centerSeperation = t.Dot(s); @@ -373,7 +373,7 @@ namespace Oyster { namespace Collision3D { namespace Utility return false; } - worldPointOfContact = (0.5f * sumPoints).xyz; + worldPointOfContact *= 0.5f; return true; } } @@ -791,20 +791,31 @@ namespace Oyster { namespace Collision3D { namespace Utility bool Intersect( const Box &boxA, const BoxAxisAligned &boxB ) { // by Dan Andersson - Float3 alignedOffsetBoundaries = (boxB.maxVertex - boxB.minVertex) * 0.5f, - offset = boxA.center - Average( boxB.minVertex, boxB.maxVertex ); - return Private::SeperatingAxisTest_AxisAlignedVsTransformedBox( alignedOffsetBoundaries, boxA.boundingOffset, boxA.rotation, offset ); + Float4 alignedOffsetBoundaries = (Float4(boxB.maxVertex, 1.0f) - Float4(boxB.minVertex, 1.0f)) * 0.5f, + offset = Float4(boxA.center, 1.0f) - Average( Float4(boxB.maxVertex, 1.0f), Float4(boxB.minVertex, 1.0f) ); + return Private::SeperatingAxisTest_AxisAlignedVsTransformedBox( alignedOffsetBoundaries.xyz, boxA.boundingOffset, boxA.rotation, offset ); } bool Intersect( const Box &boxA, const Box &boxB ) { // by Dan Andersson - Float4x4 orientationA = OrientationMatrix(boxA.rotation, boxA.center), - orientationB = OrientationMatrix(boxB.rotation, boxB.center), - invOrientationA = InverseOrientationMatrix( orientationA ); + Float4x4 rotationB = TransformMatrix( InverseRotationMatrix(boxA.rotation), boxB.rotation ); + Float4 posB = boxB.center - boxA.center; - orientationB = TransformMatrix( invOrientationA, orientationB ); + return Private::SeperatingAxisTest_AxisAlignedVsTransformedBox( boxA.boundingOffset, boxB.boundingOffset, rotationB, posB ); + } - return Private::SeperatingAxisTest_AxisAlignedVsTransformedBox( boxA.boundingOffset, boxB.boundingOffset, ExtractRotationMatrix(orientationB), orientationB.v[3].xyz ); + bool Intersect( const Box &boxA, const Box &boxB, Float3 &worldPointOfContact ) + { + Float4x4 rotationB = TransformMatrix( InverseRotationMatrix(boxA.rotation), boxB.rotation ); + Float4 posB = boxB.center - boxA.center; + + Float4 pointOfContact; + if( Private::SeperatingAxisTest_AxisAlignedVsTransformedBox( boxA.boundingOffset, boxB.boundingOffset, rotationB, posB, pointOfContact ) ) + { + TransformVector( boxA.rotation, pointOfContact, pointOfContact ); + return true; + } + else return false; } bool Intersect( const Frustrum &frustrum, const Point &point ) diff --git a/Code/OysterPhysics3D/OysterCollision3D.h b/Code/OysterPhysics3D/OysterCollision3D.h index 6ec28625..5234b31e 100644 --- a/Code/OysterPhysics3D/OysterCollision3D.h +++ b/Code/OysterPhysics3D/OysterCollision3D.h @@ -76,6 +76,7 @@ namespace Oyster { namespace Collision3D { namespace Utility // bool Intersect( const Box &box, const Triangle &triangle, ? ); bool Intersect( const Box &boxA, const BoxAxisAligned &boxB ); bool Intersect( const Box &boxA, const Box &boxB ); + bool Intersect( const Box &boxA, const Box &boxB, ::Oyster::Math::Float3 &worldPointOfContact ); bool Intersect( const Frustrum &frustrum, const Point &point ); bool Intersect( const Frustrum &frustrum, const Ray &ray, ::Oyster::Math::Float &connectDistance ); From e8952dc739102c2575cfbecb58b418030082ed8e Mon Sep 17 00:00:00 2001 From: Dander7BD Date: Tue, 17 Dec 2013 14:14:54 +0100 Subject: [PATCH 13/42] CollideAble implementations updated --- Code/OysterPhysics3D/Box.cpp | 49 ++++++++++------- Code/OysterPhysics3D/BoxAxisAligned.cpp | 41 +++++++------- Code/OysterPhysics3D/Frustrum.cpp | 46 ++++++++-------- Code/OysterPhysics3D/OysterCollision3D.cpp | 16 +++++- Code/OysterPhysics3D/OysterCollision3D.h | 1 + Code/OysterPhysics3D/Plane.cpp | 61 +++++++++++---------- Code/OysterPhysics3D/Point.cpp | 49 +++++++++-------- Code/OysterPhysics3D/Ray.cpp | 44 +++++++-------- Code/OysterPhysics3D/Sphere.cpp | 63 ++++++++++++---------- Code/OysterPhysics3D/Universe.cpp | 41 +++++++------- 10 files changed, 231 insertions(+), 180 deletions(-) diff --git a/Code/OysterPhysics3D/Box.cpp b/Code/OysterPhysics3D/Box.cpp index 59c98372..7d67754c 100644 --- a/Code/OysterPhysics3D/Box.cpp +++ b/Code/OysterPhysics3D/Box.cpp @@ -41,35 +41,48 @@ bool Box::Intersects( const ICollideable &target ) const { switch( target.type ) { - case Type_universe: return true; - case Type_point: return Utility::Intersect( *this, *(Point*)&target ); - case Type_ray: return Utility::Intersect( *this, *(Ray*)&target, ((Ray*)&target)->collisionDistance ); - case Type_sphere: return Utility::Intersect( *this, *(Sphere*)&target ); - case Type_plane: return Utility::Intersect( *this, *(Plane*)&target ); - // case Type_triangle: return false; // TODO: : - case Type_box_axis_aligned: return Utility::Intersect( *this, *(BoxAxisAligned*)&target ); - case Type_box: return Utility::Intersect( *this, *(Box*)&target ); - // case Type_frustrum: return false; // TODO: : - default: return false; + case Type_universe: return true; + case Type_point: return Utility::Intersect( *this, (const Point&)target ); + case Type_ray: return Utility::Intersect( *this, (const Ray&)target, ((const Ray&)target).collisionDistance ); + case Type_sphere: return Utility::Intersect( *this, (const Sphere&)target ); + case Type_plane: return Utility::Intersect( *this, (const Plane&)target ); + // case Type_triangle: return false; // TODO: : + case Type_box_axis_aligned: return Utility::Intersect( *this, (const BoxAxisAligned&)target ); + case Type_box: return Utility::Intersect( *this, (const Box&)target ); + // case Type_frustrum: return false; // TODO: : + default: return false; } } bool Box::Intersects( const ICollideable &target, Float3 &worldPointOfContact ) const { - //! @todo TODO: implement stub properly - return this->Intersects( target ); + switch( target.type ) + { + case Type_universe: + worldPointOfContact = this->center; + return true; + case Type_point: return Utility::Intersect( *this, (const Point&)target, worldPointOfContact ); + case Type_ray: return Utility::Intersect( *this, (const Ray&)target, ((const Ray&)target).collisionDistance, worldPointOfContact ); + case Type_sphere: return Utility::Intersect( *this, (const Sphere&)target, worldPointOfContact ); + case Type_plane: return Utility::Intersect( *this, (const Plane&)target, worldPointOfContact ); + // case Type_triangle: return false; // TODO: : + case Type_box_axis_aligned: return Utility::Intersect( *this, (const BoxAxisAligned&)target, worldPointOfContact ); + case Type_box: return Utility::Intersect( *this, (const Box&)target, worldPointOfContact ); + // case Type_frustrum: return false; // TODO: : + default: return false; + } } bool Box::Contains( const ICollideable &target ) const { switch( target.type ) { - case Type_point: return Utility::Intersect( *this, *(Point*)&target ); - // case Type_sphere: return false; // TODO: - // case Type_triangle: return false; // TODO: - // case Type_box_axis_aligned: return false; // TODO: - // case Type_box: return false; // TODO: - // case Type_frustrum: return false; // TODO: + case Type_point: return Utility::Intersect( *this, (const Point&)target ); + //case Type_sphere: return false; // TODO: + //case Type_triangle: return false; // TODO: + //case Type_box_axis_aligned: return false; // TODO: + //case Type_box: return false; // TODO: + //case Type_frustrum: return false; // TODO: default: return false; } } \ No newline at end of file diff --git a/Code/OysterPhysics3D/BoxAxisAligned.cpp b/Code/OysterPhysics3D/BoxAxisAligned.cpp index f1fc2a78..a0ebdd63 100644 --- a/Code/OysterPhysics3D/BoxAxisAligned.cpp +++ b/Code/OysterPhysics3D/BoxAxisAligned.cpp @@ -44,16 +44,16 @@ bool BoxAxisAligned::Intersects( const ICollideable &target ) const { switch( target.type ) { - case Type_universe: return true; - case Type_point: return Utility::Intersect( *this, *(Point*)&target ); - case Type_ray: return Utility::Intersect( *this, *(Ray*)&target, ((Ray*)&target)->collisionDistance ); - case Type_sphere: return Utility::Intersect( *this, *(Sphere*)&target ); - case Type_plane: return Utility::Intersect( *this, *(Plane*)&target ); - // case Type_triangle: return false; // TODO: - case Type_box_axis_aligned: return Utility::Intersect( *this, *(BoxAxisAligned*)&target ); - // case Type_box: return false; // TODO: - // case Type_frustrum: return false; // TODO: - default: return false; + case Type_universe: return true; + case Type_point: return Utility::Intersect( *this, (const Point&)target ); + case Type_ray: return Utility::Intersect( *this, (const Ray&)target, ((const Ray&)target).collisionDistance ); + case Type_sphere: return Utility::Intersect( *this, (const Sphere&)target ); + case Type_plane: return Utility::Intersect( *this, (const Plane&)target ); + // case Type_triangle: return false; // TODO: + case Type_box_axis_aligned: return Utility::Intersect( *this, (const BoxAxisAligned&)target ); + // case Type_box: return false; // TODO: + // case Type_frustrum: return false; // TODO: + default: return false; } } @@ -65,14 +65,15 @@ bool BoxAxisAligned::Intersects( const ICollideable &target, Float3 &worldPointO bool BoxAxisAligned::Contains( const ICollideable &target ) const { - switch( target.type ) - { - // case Type_point: return false; // TODO: - // case Type_sphere: return false; // TODO: - // case Type_triangle: return false; // TODO: - // case Type_box_axis_aligned: return false; // TODO: - // case Type_box: return false; // TODO: - // case Type_frustrum: return false; // TODO: - default: return false; - } + //switch( target.type ) + //{ + ////case Type_point: return false; // TODO: + ////case Type_sphere: return false; // TODO: + ////case Type_triangle: return false; // TODO: + ////case Type_box_axis_aligned: return false; // TODO: + ////case Type_box: return false; // TODO: + ////case Type_frustrum: return false; // TODO: + //default: return false; + //} + return false; } \ No newline at end of file diff --git a/Code/OysterPhysics3D/Frustrum.cpp b/Code/OysterPhysics3D/Frustrum.cpp index 39e27318..e8aa65fa 100644 --- a/Code/OysterPhysics3D/Frustrum.cpp +++ b/Code/OysterPhysics3D/Frustrum.cpp @@ -198,23 +198,25 @@ void Frustrum::WriteToByte( unsigned int &nextIndex, unsigned char targetMem[] ) } ::Utility::DynamicMemory::UniquePointer Frustrum::Clone( ) const -{ return ::Utility::DynamicMemory::UniquePointer( new Frustrum(*this) ); } +{ + return ::Utility::DynamicMemory::UniquePointer( new Frustrum(*this) ); +} bool Frustrum::Intersects( const ICollideable &target ) const { switch( target.type ) { - case Type_universe: return true; - case Type_point: return Utility::Intersect( *this, *(Point*)&target ); - case Type_ray: return Utility::Intersect( *this, *(Ray*)&target, ((Ray*)&target)->collisionDistance ); - case Type_sphere: return Utility::Intersect( *this, *(Sphere*)&target ); - case Type_plane: return Utility::Intersect( *this, *(Plane*)&target ); - // case Type_triangle: return false; // TODO: - case Type_box_axis_aligned: return Utility::Intersect( *this, *(BoxAxisAligned*)&target ); - case Type_box: return Utility::Intersect( *this, *(Box*)&target ); - case Type_frustrum: return Utility::Intersect( *this, *(Frustrum*)&target ); - // case Type_line: return false; // TODO: - default: return false; + case Type_universe: return true; + case Type_point: return Utility::Intersect( *this, (const Point&)target ); + case Type_ray: return Utility::Intersect( *this, (const Ray&)target, ((const Ray&)target).collisionDistance ); + case Type_sphere: return Utility::Intersect( *this, (const Sphere&)target ); + case Type_plane: return Utility::Intersect( *this, (const Plane&)target ); + //case Type_triangle: return false; // TODO: + case Type_box_axis_aligned: return Utility::Intersect( *this, (const BoxAxisAligned&)target ); + case Type_box: return Utility::Intersect( *this, (const Box&)target ); + case Type_frustrum: return Utility::Intersect( *this, (const Frustrum&)target ); + //case Type_line: return false; // TODO: + default: return false; } } @@ -228,15 +230,15 @@ bool Frustrum::Contains( const ICollideable &target ) const { switch( target.type ) { - case Type_point: return Utility::Intersect( *this, *(Point*)&target ); - // case Type_ray: return false; // TODO: - // case Type_sphere: return false; // TODO: - // case Type_plane: return false; // TODO: - // case Type_triangle: return false; // TODO: - // case Type_box_axis_aligned: return false; // TODO: - // case Type_box: return false; // TODO: - // case Type_frustrum: return false; // TODO: - // case Type_line: return false; // TODO: - default: return false; + case Type_point: return Utility::Intersect( *this, (const Point&)target ); + //case Type_ray: return false; // TODO: + //case Type_sphere: return false; // TODO: + //case Type_plane: return false; // TODO: + //case Type_triangle: return false; // TODO: + //case Type_box_axis_aligned: return false; // TODO: + //case Type_box: return false; // TODO: + //case Type_frustrum: return false; // TODO: + //case Type_line: return false; // TODO: + default: return false; } } \ No newline at end of file diff --git a/Code/OysterPhysics3D/OysterCollision3D.cpp b/Code/OysterPhysics3D/OysterCollision3D.cpp index 98aacd24..9f8a9fe1 100644 --- a/Code/OysterPhysics3D/OysterCollision3D.cpp +++ b/Code/OysterPhysics3D/OysterCollision3D.cpp @@ -796,6 +796,20 @@ namespace Oyster { namespace Collision3D { namespace Utility return Private::SeperatingAxisTest_AxisAlignedVsTransformedBox( alignedOffsetBoundaries.xyz, boxA.boundingOffset, boxA.rotation, offset ); } + bool Intersect( const Box &boxA, const BoxAxisAligned &boxB, ::Oyster::Math::Float3 &worldPointOfContact ) + { // by Dan Andersson + Float4 alignedOffsetBoundaries = (Float4(boxB.maxVertex, 1.0f) - Float4(boxB.minVertex, 1.0f)) * 0.5f, + offset = Float4(boxA.center, 1.0f) - Average( Float4(boxB.maxVertex, 1.0f), Float4(boxB.minVertex, 1.0f) ); + + Float4 pointOfContact; + if( Private::SeperatingAxisTest_AxisAlignedVsTransformedBox( alignedOffsetBoundaries.xyz, boxA.boundingOffset, boxA.rotation, offset, pointOfContact ) ) + { + worldPointOfContact = pointOfContact.xyz; + return true; + } + else return false; + } + bool Intersect( const Box &boxA, const Box &boxB ) { // by Dan Andersson Float4x4 rotationB = TransformMatrix( InverseRotationMatrix(boxA.rotation), boxB.rotation ); @@ -812,7 +826,7 @@ namespace Oyster { namespace Collision3D { namespace Utility Float4 pointOfContact; if( Private::SeperatingAxisTest_AxisAlignedVsTransformedBox( boxA.boundingOffset, boxB.boundingOffset, rotationB, posB, pointOfContact ) ) { - TransformVector( boxA.rotation, pointOfContact, pointOfContact ); + worldPointOfContact = TransformVector( boxA.rotation, pointOfContact, pointOfContact ).xyz; return true; } else return false; diff --git a/Code/OysterPhysics3D/OysterCollision3D.h b/Code/OysterPhysics3D/OysterCollision3D.h index 5234b31e..603dfc7c 100644 --- a/Code/OysterPhysics3D/OysterCollision3D.h +++ b/Code/OysterPhysics3D/OysterCollision3D.h @@ -75,6 +75,7 @@ namespace Oyster { namespace Collision3D { namespace Utility bool Intersect( const Box &box, const Plane &plane, ::Oyster::Math::Float3 &worldPointOfContact ); // bool Intersect( const Box &box, const Triangle &triangle, ? ); bool Intersect( const Box &boxA, const BoxAxisAligned &boxB ); + bool Intersect( const Box &boxA, const BoxAxisAligned &boxB, ::Oyster::Math::Float3 &worldPointOfContact ); bool Intersect( const Box &boxA, const Box &boxB ); bool Intersect( const Box &boxA, const Box &boxB, ::Oyster::Math::Float3 &worldPointOfContact ); diff --git a/Code/OysterPhysics3D/Plane.cpp b/Code/OysterPhysics3D/Plane.cpp index 87d20c84..863b0c5a 100644 --- a/Code/OysterPhysics3D/Plane.cpp +++ b/Code/OysterPhysics3D/Plane.cpp @@ -30,40 +30,45 @@ Plane & Plane::operator = ( const Plane &plane ) } ::Utility::DynamicMemory::UniquePointer Plane::Clone( ) const -{ return ::Utility::DynamicMemory::UniquePointer( new Plane(*this) ); } +{ + return ::Utility::DynamicMemory::UniquePointer( new Plane(*this) ); +} bool Plane::Intersects( const ICollideable &target ) const { switch( target.type ) { - case Type_universe: return true; - case Type_point: return Utility::Intersect( *this, *(Point*)&target ); - case Type_ray: return Utility::Intersect( *this, *(Ray*)&target, ((Ray*)&target)->collisionDistance ); - case Type_sphere: return Utility::Intersect( *this, *(Sphere*)&target ); - case Type_plane: return Utility::Intersect( *this, *(Plane*)&target ); - // case Type_triangle: return false; // TODO: - case Type_box_axis_aligned: return Utility::Intersect( *(BoxAxisAligned*)&target, *this ); - case Type_box: return Utility::Intersect( *(Box*)&target, *this ); - case Type_frustrum: return false; // TODO: - case Type_line: return false; // TODO: - default: return false; + case Type_universe: return true; + case Type_point: return Utility::Intersect( *this, (const Point&)target ); + case Type_ray: return Utility::Intersect( *this, (const Ray&)target, ((const Ray&)target).collisionDistance ); + case Type_sphere: return Utility::Intersect( *this, (const Sphere&)target ); + case Type_plane: return Utility::Intersect( *this, (const Plane&)target ); + //case Type_triangle: return false; // TODO: + case Type_box_axis_aligned: return Utility::Intersect( (const BoxAxisAligned&)target, *this ); + case Type_box: return Utility::Intersect( (const Box&)target, *this ); + //case Type_frustrum: return false; // TODO: + //case Type_line: return false; // TODO: + default: return false; } } -bool Plane::Intersects( const ICollideable &target, ::Oyster::Math::Float3 &worldPointOfContact ) const +bool Plane::Intersects( const ICollideable &target, Float3 &worldPointOfContact ) const { switch( target.type ) { - case Type_universe: return true; - case Type_point: return Utility::Intersect( *this, *(Point*)&target, worldPointOfContact ); - case Type_ray: return Utility::Intersect( *this, *(Ray*)&target, ((Ray*)&target)->collisionDistance, worldPointOfContact ); - case Type_sphere: return Utility::Intersect( *this, *(Sphere*)&target, worldPointOfContact ); - case Type_plane: return Utility::Intersect( *(Plane*)&target, *this, worldPointOfContact ); - // case Type_triangle: return false; // TODO: - case Type_box_axis_aligned: return Utility::Intersect( *(BoxAxisAligned*)&target, *this, worldPointOfContact ); - case Type_box: return Utility::Intersect( *(Box*)&target, *this, worldPointOfContact ); - case Type_frustrum: return false; // TODO: - default: worldPointOfContact = NULL; + case Type_universe: + worldPointOfContact = this->normal * this->phasing; + return true; + case Type_point: return Utility::Intersect( *this, (const Point&)target, worldPointOfContact ); + case Type_ray: return Utility::Intersect( *this, (const Ray&)target, ((const Ray&)target).collisionDistance, worldPointOfContact ); + case Type_sphere: return Utility::Intersect( *this, (const Sphere&)target, worldPointOfContact ); + case Type_plane: return Utility::Intersect( (const Plane&)target, *this, worldPointOfContact ); + //case Type_triangle: return false; // TODO: + case Type_box_axis_aligned: return Utility::Intersect( (const BoxAxisAligned&)target, *this, worldPointOfContact ); + case Type_box: return Utility::Intersect( (const Box&)target, *this, worldPointOfContact ); + //case Type_frustrum: return false; // TODO: + default: + worldPointOfContact = Float3::null; return false; } } @@ -72,10 +77,10 @@ bool Plane::Contains( const ICollideable &target ) const { switch( target.type ) { - case Type_point: return Utility::Intersect( *this, *(Point*)&target ); - case Type_ray: return Utility::Contains( *this, *(Ray*)&target ); - case Type_plane: return Utility::Contains( *this, *(Plane*)&target ); - // case Type_triangle: return false; // TODO: - default: return false; + case Type_point: return Utility::Intersect( *this, (const Point&)target ); + case Type_ray: return Utility::Contains( *this, (const Ray&)target ); + case Type_plane: return Utility::Contains( *this, (const Plane&)target ); + //case Type_triangle: return false; // TODO: + default: return false; } } \ No newline at end of file diff --git a/Code/OysterPhysics3D/Point.cpp b/Code/OysterPhysics3D/Point.cpp index 8b1ab081..7a40c7cc 100644 --- a/Code/OysterPhysics3D/Point.cpp +++ b/Code/OysterPhysics3D/Point.cpp @@ -35,33 +35,36 @@ bool Point::Intersects( const ICollideable &target ) const { switch( target.type ) { - case Type_universe: return true; - case Type_point: return Utility::Intersect( *this, *(Point*)&target ); - case Type_ray: return Utility::Intersect( *(Ray*)&target, *this, ((Ray*)&target)->collisionDistance ); - case Type_sphere: return Utility::Intersect( *(Sphere*)&target, *this ); - case Type_plane: return Utility::Intersect( *(Plane*)&target, *this ); - //case Type_triangle: return false; // TODO: - case Type_box_axis_aligned: return Utility::Intersect( *(BoxAxisAligned*)&target, *this ); - case Type_box: return Utility::Intersect( *(Box*)&target, *this ); - case Type_frustrum: return false; // TODO: - default: return false; + case Type_universe: return true; + case Type_point: return Utility::Intersect( *this, (const Point&)target ); + case Type_ray: return Utility::Intersect( (const Ray&)target, *this, ((const Ray&)target).collisionDistance ); + case Type_sphere: return Utility::Intersect( (const Sphere&)target, *this ); + case Type_plane: return Utility::Intersect( (const Plane&)target, *this ); + //case Type_triangle: return false; // TODO: + case Type_box_axis_aligned: return Utility::Intersect( (const BoxAxisAligned&)target, *this ); + case Type_box: return Utility::Intersect( (const Box&)target, *this ); + //case Type_frustrum: return false; // TODO: + default: return false; } } -bool Point::Intersects( const ICollideable &target, ::Oyster::Math::Float3 &worldPointOfContact ) const +bool Point::Intersects( const ICollideable &target, Float3 &worldPointOfContact ) const { switch( target.type ) { - case Type_universe: return true; - case Type_point: return Utility::Intersect( *this, *(Point*)&target, worldPointOfContact ); - case Type_ray: return Utility::Intersect( *(Ray*)&target, *this, ((Ray*)&target)->collisionDistance, worldPointOfContact ); - case Type_sphere: return Utility::Intersect( *(Sphere*)&target, *this, worldPointOfContact ); - //case Type_plane: return Utility::Intersect( *(Plane*)&target, *this, worldPointOfContact ); - // case Type_triangle: return false; // TODO: - case Type_box_axis_aligned: return Utility::Intersect( *(BoxAxisAligned*)&target, *this, worldPointOfContact ); - case Type_box: return Utility::Intersect( *(Box*)&target, *this, worldPointOfContact ); - case Type_frustrum: return false; // TODO: - default: worldPointOfContact = NULL; + case Type_universe: + worldPointOfContact = this->center; + return true; + case Type_point: return Utility::Intersect( *this, (const Point&)target, worldPointOfContact ); + case Type_ray: return Utility::Intersect( (const Ray&)target, *this, ((const Ray&)target).collisionDistance, worldPointOfContact ); + case Type_sphere: return Utility::Intersect( (const Sphere&)target, *this, worldPointOfContact ); + case Type_plane: return Utility::Intersect( (const Plane&)target, *this, worldPointOfContact ); + //case Type_triangle: return false; // TODO: + case Type_box_axis_aligned: return Utility::Intersect( (const BoxAxisAligned&)target, *this, worldPointOfContact ); + case Type_box: return Utility::Intersect( (const Box&)target, *this, worldPointOfContact ); + case Type_frustrum: return false; // TODO: + default: + worldPointOfContact = Float3::null; return false; } } @@ -70,7 +73,7 @@ bool Point::Contains( const ICollideable &target ) const { switch( target.type ) { - case Type_point: return Utility::Intersect( *this, *(Point*)&target ); - default: return false; + case Type_point: return Utility::Intersect( *this, (const Point&)target ); + default: return false; } } \ No newline at end of file diff --git a/Code/OysterPhysics3D/Ray.cpp b/Code/OysterPhysics3D/Ray.cpp index d1e81974..6d65fe7f 100644 --- a/Code/OysterPhysics3D/Ray.cpp +++ b/Code/OysterPhysics3D/Ray.cpp @@ -43,34 +43,36 @@ bool Ray::Intersects( const ICollideable &target ) const case Type_universe: this->collisionDistance = 0.0f; return true; - case Type_point: return Utility::Intersect( *this, *(Point*)&target, this->collisionDistance ); - case Type_ray: return Utility::Intersect( *this, *(Ray*)&target, this->collisionDistance, ((Ray*)&target)->collisionDistance ); - case Type_sphere: return Utility::Intersect( *(Sphere*)&target, *this, this->collisionDistance ); - case Type_plane: return Utility::Intersect( *(Plane*)&target, *this, this->collisionDistance ); + case Type_point: return Utility::Intersect( *this, (const Point&)target, this->collisionDistance ); + case Type_ray: return Utility::Intersect( *this, (const Ray&)target, this->collisionDistance, ((const Ray&)target).collisionDistance ); + case Type_sphere: return Utility::Intersect( (const Sphere&)target, *this, this->collisionDistance ); + case Type_plane: return Utility::Intersect( (const Plane&)target, *this, this->collisionDistance ); // case Type_triangle: return false; // TODO: - case Type_box_axis_aligned: return Utility::Intersect( *(BoxAxisAligned*)&target, *this, this->collisionDistance ); - case Type_box: return Utility::Intersect( *(Box*)&target, *this, this->collisionDistance ); - case Type_frustrum: return false; // TODO: - default: return false; + case Type_box_axis_aligned: return Utility::Intersect( (const BoxAxisAligned&)target, *this, this->collisionDistance ); + case Type_box: return Utility::Intersect( (const Box&)target, *this, this->collisionDistance ); + case Type_frustrum: return false; // TODO: + default: return false; } } -bool Ray::Intersects( const ICollideable &target, ::Oyster::Math::Float3 &worldPointOfContact ) const +bool Ray::Intersects( const ICollideable &target, Float3 &worldPointOfContact ) const { switch( target.type ) { case Type_universe: this->collisionDistance = 0.0f; + worldPointOfContact = this->origin; return true; - case Type_point: return Utility::Intersect( *this, *(Point*)&target, this->collisionDistance, worldPointOfContact ); - case Type_ray: return Utility::Intersect( *this, *(Ray*)&target, this->collisionDistance, ((Ray*)&target)->collisionDistance, worldPointOfContact ); - case Type_sphere: return Utility::Intersect( *(Sphere*)&target, *this, this->collisionDistance, worldPointOfContact ); - case Type_plane: return Utility::Intersect( *(Plane*)&target, *this, this->collisionDistance, worldPointOfContact ); - // case Type_triangle: return false; // TODO: - case Type_box_axis_aligned: return Utility::Intersect( *(BoxAxisAligned*)&target, *this, this->collisionDistance, worldPointOfContact ); - case Type_box: return Utility::Intersect( *(Box*)&target, *this, this->collisionDistance, worldPointOfContact ); - case Type_frustrum: return false; // TODO: - default: worldPointOfContact = NULL; + case Type_point: return Utility::Intersect( *this, (const Point&)target, this->collisionDistance, worldPointOfContact ); + case Type_ray: return Utility::Intersect( *this, (const Ray&)target, this->collisionDistance, ((const Ray&)target).collisionDistance, worldPointOfContact ); + case Type_sphere: return Utility::Intersect( (const Sphere&)target, *this, this->collisionDistance, worldPointOfContact ); + case Type_plane: return Utility::Intersect( (const Plane&)target, *this, this->collisionDistance, worldPointOfContact ); + //case Type_triangle: return false; // TODO: + case Type_box_axis_aligned: return Utility::Intersect( (const BoxAxisAligned&)target, *this, this->collisionDistance, worldPointOfContact ); + case Type_box: return Utility::Intersect( (const Box&)target, *this, this->collisionDistance, worldPointOfContact ); + //case Type_frustrum: return false; // TODO: + default: + worldPointOfContact = Float3::null; return false; } } @@ -79,8 +81,8 @@ bool Ray::Contains( const ICollideable &target ) const { switch( target.type ) { - case Type_point: return Utility::Intersect( *this, *(Point*)&target, this->collisionDistance ); - case Type_ray: return Utility::Contains( *this, *(Ray*)&target ); - default: return false; + case Type_point: return Utility::Intersect( *this, (const Point&)target, this->collisionDistance ); + case Type_ray: return Utility::Contains( *this, (const Ray&)target ); + default: return false; } } \ No newline at end of file diff --git a/Code/OysterPhysics3D/Sphere.cpp b/Code/OysterPhysics3D/Sphere.cpp index efec7c20..8c786f54 100644 --- a/Code/OysterPhysics3D/Sphere.cpp +++ b/Code/OysterPhysics3D/Sphere.cpp @@ -26,39 +26,44 @@ Sphere & Sphere::operator = ( const Sphere &sphere ) } ::Utility::DynamicMemory::UniquePointer Sphere::Clone( ) const -{ return ::Utility::DynamicMemory::UniquePointer( new Sphere(*this) ); } +{ + return ::Utility::DynamicMemory::UniquePointer( new Sphere(*this) ); +} bool Sphere::Intersects( const ICollideable &target ) const { switch( target.type ) { - case Type_universe: return true; - case Type_point: return Utility::Intersect( *this, *(Point*)&target ); - case Type_ray: return Utility::Intersect( *this, *(Ray*)&target, ((Ray*)&target)->collisionDistance ); - case Type_sphere: return Utility::Intersect( *this, *(Sphere*)&target ); - case Type_plane: return Utility::Intersect( *(Plane*)&target, *this ); - // case Type_triangle: return false; // TODO: - case Type_box_axis_aligned: return Utility::Intersect( *(BoxAxisAligned*)&target, *this ); - case Type_box: return Utility::Intersect( *(Box*)&target, *this ); - case Type_frustrum: return false; // TODO: - default: return false; + case Type_universe: return true; + case Type_point: return Utility::Intersect( *this, (const Point&)target ); + case Type_ray: return Utility::Intersect( *this, (const Ray&)target, ((const Ray&)target).collisionDistance ); + case Type_sphere: return Utility::Intersect( *this, (const Sphere&)target ); + case Type_plane: return Utility::Intersect( (const Plane&)target, *this ); + //case Type_triangle: return false; // TODO: + case Type_box_axis_aligned: return Utility::Intersect( (const BoxAxisAligned&)target, *this ); + case Type_box: return Utility::Intersect( (const Box&)target, *this ); + //case Type_frustrum: return false; // TODO: + default: return false; } } -bool Sphere::Intersects( const ICollideable &target, ::Oyster::Math::Float3 &worldPointOfContact ) const +bool Sphere::Intersects( const ICollideable &target, Float3 &worldPointOfContact ) const { switch( target.type ) { - case Type_universe: return true; - case Type_point: return Utility::Intersect( *this, *(Point*)&target, worldPointOfContact ); - case Type_ray: return Utility::Intersect( *this, *(Ray*)&target, ((Ray*)&target)->collisionDistance, worldPointOfContact ); - case Type_sphere: return Utility::Intersect( *this, *(Sphere*)&target, worldPointOfContact ); - //case Type_plane: return Utility::Intersect( *(Plane*)&target, *this, worldPointOfContact ); - // case Type_triangle: return false; // TODO: - case Type_box_axis_aligned: return Utility::Intersect( *(BoxAxisAligned*)&target, *this, worldPointOfContact ); - case Type_box: return Utility::Intersect( *(Box*)&target, *this, worldPointOfContact ); - case Type_frustrum: return false; // TODO: - default: worldPointOfContact = Float3::null; + case Type_universe: + worldPointOfContact = this->center; + return true; + case Type_point: return Utility::Intersect( *this, (const Point&)target, worldPointOfContact ); + case Type_ray: return Utility::Intersect( *this, (const Ray&)target, ((const Ray&)target).collisionDistance, worldPointOfContact ); + case Type_sphere: return Utility::Intersect( *this, (const Sphere&)target, worldPointOfContact ); + case Type_plane: return Utility::Intersect( (const Plane&)target, *this, worldPointOfContact ); + //case Type_triangle: return false; // TODO: + case Type_box_axis_aligned: return Utility::Intersect( (const BoxAxisAligned&)target, *this, worldPointOfContact ); + case Type_box: return Utility::Intersect( (const Box&)target, *this, worldPointOfContact ); + //case Type_frustrum: return false; // TODO: + default: + worldPointOfContact = Float3::null; return false; } } @@ -67,12 +72,12 @@ bool Sphere::Contains( const ICollideable &target ) const { switch( target.type ) { - case Type_point: return Utility::Intersect( *this, *(Point*)&target ); - case Type_sphere: return Utility::Contains( *this, *(Sphere*)&target ); - // case Type_triangle: return false; // TODO: - case Type_box_axis_aligned: return false; // TODO: - case Type_box: return false; // TODO: - case Type_frustrum: return false; // TODO: - default: return false; + case Type_point: return Utility::Intersect( *this, (const Point&)target ); + case Type_sphere: return Utility::Contains( *this, (const Sphere&)target ); + //case Type_triangle: return false; // TODO: + //case Type_box_axis_aligned: return false; // TODO: + //case Type_box: return false; // TODO: + //case Type_frustrum: return false; // TODO: + default: return false; } } \ No newline at end of file diff --git a/Code/OysterPhysics3D/Universe.cpp b/Code/OysterPhysics3D/Universe.cpp index f1887e0b..c2308690 100644 --- a/Code/OysterPhysics3D/Universe.cpp +++ b/Code/OysterPhysics3D/Universe.cpp @@ -10,20 +10,24 @@ Universe::Universe() : ICollideable(Type_universe) {} Universe::~Universe() {} Universe & Universe::operator = ( const Universe &universe ) -{ return *this; } +{ + return *this; +} UniquePointer Universe::Clone( ) const -{ return UniquePointer( new Universe(*this) ); } +{ + return UniquePointer( new Universe(*this) ); +} bool Universe::Intersects( const ICollideable &target ) const { // universe touches everything switch( target.type ) { case Type_ray: - ((Ray*)&target)->collisionDistance = 0.0f; + ((const Ray&)target).collisionDistance = 0.0f; break; case Type_line: - ((Line*)&target)->ray.collisionDistance = 0.0f; + ((const Line&)target).ray.collisionDistance = 0.0f; break; default: break; } @@ -36,32 +40,32 @@ bool Universe::Intersects( const ICollideable &target, Float3 &worldPointOfConta switch( target.type ) { case Type_point: - worldPointOfContact = ((Point*)&target)->center; + worldPointOfContact = ((const Point&)target).center; break; case Type_sphere: - worldPointOfContact = ((Sphere*)&target)->center; + worldPointOfContact = ((const Sphere&)target).center; break; case Type_plane: - worldPointOfContact = ((Plane*)&target)->normal * ((Plane*)&target)->phasing; + worldPointOfContact = ((const Plane&)target).normal * ((const Plane&)target).phasing; break; case Type_box_axis_aligned: - worldPointOfContact = Average( ((BoxAxisAligned*)&target)->minVertex, ((BoxAxisAligned*)&target)->maxVertex ); + worldPointOfContact = Average( ((const BoxAxisAligned&)target).minVertex, ((const BoxAxisAligned&)target).maxVertex ); break; case Type_box: - worldPointOfContact = ((Box*)&target)->center; + worldPointOfContact = ((const Box&)target).center; break; case Type_frustrum: - worldPointOfContact = Average( ((Frustrum*)&target)->leftPlane.normal * ((Frustrum*)&target)->leftPlane.phasing, ((Frustrum*)&target)->rightPlane.normal * ((Frustrum*)&target)->rightPlane.phasing ); - worldPointOfContact = Average( worldPointOfContact, Average( ((Frustrum*)&target)->bottomPlane.normal * ((Frustrum*)&target)->bottomPlane.phasing, ((Frustrum*)&target)->topPlane.normal * ((Frustrum*)&target)->topPlane.phasing ) ); - worldPointOfContact = Average( worldPointOfContact, Average( ((Frustrum*)&target)->nearPlane.normal * ((Frustrum*)&target)->nearPlane.phasing, ((Frustrum*)&target)->farPlane.normal * ((Frustrum*)&target)->farPlane.phasing ) ); + worldPointOfContact = Average( ((const Frustrum&)target).leftPlane.normal * ((const Frustrum&)target).leftPlane.phasing, ((const Frustrum&)target).rightPlane.normal * ((const Frustrum&)target).rightPlane.phasing ); + worldPointOfContact = Average( worldPointOfContact, Average( ((const Frustrum&)target).bottomPlane.normal * ((const Frustrum&)target).bottomPlane.phasing, ((const Frustrum&)target).topPlane.normal * ((const Frustrum&)target).topPlane.phasing ) ); + worldPointOfContact = Average( worldPointOfContact, Average( ((const Frustrum&)target).nearPlane.normal * ((const Frustrum&)target).nearPlane.phasing, ((const Frustrum&)target).farPlane.normal * ((const Frustrum&)target).farPlane.phasing ) ); break; case Type_ray: - ((Ray*)&target)->collisionDistance = 0.0f; - worldPointOfContact = ((Ray*)&target)->origin; + ((const Ray&)target).collisionDistance = 0.0f; + worldPointOfContact = ((const Ray&)target).origin; break; case Type_line: - ((Line*)&target)->ray.collisionDistance = 0.0f; - worldPointOfContact = ((Line*)&target)->ray.origin; + ((const Line&)target).ray.collisionDistance = 0.0f; + worldPointOfContact = ((const Line&)target).ray.origin; break; default: worldPointOfContact = Float3::null; @@ -72,5 +76,6 @@ bool Universe::Intersects( const ICollideable &target, Float3 &worldPointOfConta } bool Universe::Contains( const ICollideable &target ) const -{ return true; } // universe contains everything - +{ // universe contains everything + return true; +} \ No newline at end of file From 9cdbe2c8613099b4b0c224a3c1923f4edd0e2e3e Mon Sep 17 00:00:00 2001 From: Robin Engman Date: Wed, 18 Dec 2013 08:57:10 +0100 Subject: [PATCH 14/42] Added algorithms for collision stubs --- Code/OysterPhysics3D/OysterCollision3D.cpp | 72 ++++++++++++++-------- 1 file changed, 45 insertions(+), 27 deletions(-) diff --git a/Code/OysterPhysics3D/OysterCollision3D.cpp b/Code/OysterPhysics3D/OysterCollision3D.cpp index 9f8a9fe1..835be03a 100644 --- a/Code/OysterPhysics3D/OysterCollision3D.cpp +++ b/Code/OysterPhysics3D/OysterCollision3D.cpp @@ -422,7 +422,7 @@ namespace Oyster { namespace Collision3D { namespace Utility return true; // Passed all tests, is in same position } - bool Intersect( const Point &pointA, const Point &pointB, ::Oyster::Math::Float3& worldPointOfContact ) + bool Intersect( const Point &pointA, const Point &pointB, ::Oyster::Math::Float3 &worldPointOfContact ) { //! @todo TODO: implement Stub return false; @@ -458,13 +458,13 @@ namespace Oyster { namespace Collision3D { namespace Utility return false; } - bool Intersect( const Ray &ray, const Point &point, ::Oyster::Math::Float &connectDistance, ::Oyster::Math::Float3& worldPointOfContact ) + bool Intersect( const Ray &ray, const Point &point, ::Oyster::Math::Float &connectDistance, ::Oyster::Math::Float3 &worldPointOfContact ) { //! @todo TODO: implement Stub return false; } - bool Intersect( const Ray &rayA, const Ray &rayB, ::Oyster::Math::Float &connectDistanceA, ::Oyster::Math::Float &connectDistanceB, ::Oyster::Math::Float3& worldPointOfContact ) + bool Intersect( const Ray &rayA, const Ray &rayB, ::Oyster::Math::Float &connectDistanceA, ::Oyster::Math::Float &connectDistanceB, ::Oyster::Math::Float3 &worldPointOfContact ) { //! @todo TODO: implement Stub return false; @@ -512,34 +512,35 @@ namespace Oyster { namespace Collision3D { namespace Utility return false; } - bool Intersect( const Sphere &sphere, const Point &point, ::Oyster::Math::Float3& worldPointOfContact ) + bool Intersect( const Sphere &sphere, const Point &point, ::Oyster::Math::Float3 &worldPointOfContact ) { //! @todo TODO: implement Stub return false; } - bool Intersect( const Sphere &sphere, const Ray &ray, ::Oyster::Math::Float &connectDistance, ::Oyster::Math::Float3& worldPointOfContact ) + bool Intersect( const Sphere &sphere, const Ray &ray, ::Oyster::Math::Float &connectDistance, ::Oyster::Math::Float3 &worldPointOfContact ) { //! @todo TODO: implement Stub return false; } - bool Intersect( const Sphere &sphereA, const Sphere &sphereB, ::Oyster::Math::Float3& worldPointOfContact ) - { - //Float3 C = sphereA.center; - //C -= sphereB.center; - //Float r = (sphereA.radius + sphereB.radius); + bool Intersect( const Sphere &sphereA, const Sphere &sphereB, ::Oyster::Math::Float3 &worldPointOfContact ) + { // by Robin Engman + Float3 C = sphereA.center; + C -= sphereB.center; + Float r = sphereA.radius + sphereB.radius; - //if (r*r >= C.Dot(C)) - //{ - // Float distance; + if ( r*r >= C.Dot(C) ) + { + Float distance; + Ray ray(sphereB.center, C.Normalize()); - // Intersect(sphereA, Ray(sphereB.center, C.Normalize()), distance); + Intersect( sphereA, ray, distance ); - // worldPointOfContact = sphereB.center+C.Normalize()*distance; + worldPointOfContact = ray.origin + ray.direction*distance; - // return true; // Intersect detected! - //} + return true; + } return false; } @@ -587,25 +588,25 @@ namespace Oyster { namespace Collision3D { namespace Utility return true; // none parallell planes ALWAYS intersects somewhere } - bool Intersect( const Plane &plane, const Point &point, const ::Oyster::Math::Float3& worldPointOfContact ) + bool Intersect( const Plane &plane, const Point &point, const ::Oyster::Math::Float3 &worldPointOfContact ) { //! @todo TODO: implement Stub return false; } - bool Intersect( const Plane &plane, const Ray &ray, ::Oyster::Math::Float &connectDistance, const ::Oyster::Math::Float3& worldPointOfContact ) + bool Intersect( const Plane &plane, const Ray &ray, ::Oyster::Math::Float &connectDistance, const ::Oyster::Math::Float3 &worldPointOfContact ) { //! @todo TODO: implement Stub return false; } - bool Intersect( const Plane &plane, const Sphere &sphere, const ::Oyster::Math::Float3& worldPointOfContact ) + bool Intersect( const Plane &plane, const Sphere &sphere, const ::Oyster::Math::Float3 &worldPointOfContact ) { //! @todo TODO: implement Stub return false; } - bool Intersect( const Plane &planeA, const Plane &planeB, const ::Oyster::Math::Float3& worldPointOfContact ) + bool Intersect( const Plane &planeA, const Plane &planeB, const ::Oyster::Math::Float3 &worldPointOfContact ) { //! @todo TODO: implement Stub return false; @@ -668,9 +669,18 @@ namespace Oyster { namespace Collision3D { namespace Utility } bool Intersect( const BoxAxisAligned &box, const Sphere &sphere, Float3 &worldPointOfContact ) - { - //! @todo TODO: implement stub - return Intersect( box, sphere ); + { // by Robin Engman + + if(Intersect(box, sphere)) + { + Float distance; + Float3 boxMiddle = (box.maxVertex - box.minVertex)*0.5f; + Ray ray(boxMiddle, Float3(sphere.center - boxMiddle).Normalize()); + Intersect( sphere, ray, distance ); + worldPointOfContact = ray.origin + ray.direction * distance; + } + + return false; } bool Intersect( const BoxAxisAligned &box, const Plane &plane ) @@ -769,9 +779,17 @@ namespace Oyster { namespace Collision3D { namespace Utility } bool Intersect( const Box &box, const Sphere &sphere, Float3 &worldPointOfContact ) - { - //! @todo TODO: implement stub - return Intersect( box, sphere ); + { // by Robin Engman + if( Intersect(box, sphere) ) + { + Float distance; + Ray ray( sphere.center, Float3(box.center - sphere.center) ); + + Intersect( box, ray, distance ); + worldPointOfContact = ray.origin + ray.direction*distance; + } + + return false; } bool Intersect( const Box &box, const Plane &plane ) From dbb0c3843236d5d2bab8368863889f2ec21078c4 Mon Sep 17 00:00:00 2001 From: Dander7BD Date: Wed, 18 Dec 2013 08:57:27 +0100 Subject: [PATCH 15/42] Big patch Loads of collision response related implementations/edits --- Bin/DLL/GamePhysics_x86D.pdb | Bin 0 -> 1870848 bytes .../Implementation/PhysicsAPI_Impl.cpp | 64 +++++-- .../Implementation/PhysicsAPI_Impl.h | 1 - .../Implementation/SimpleRigidBody.cpp | 34 ++-- .../Implementation/SimpleRigidBody.h | 7 +- .../Implementation/SphericalRigidBody.cpp | 36 ++-- .../Implementation/SphericalRigidBody.h | 7 +- Code/GamePhysics/PhysicsAPI.h | 44 ++--- Code/GamePhysics/PhysicsFormula.h | 4 +- Code/GamePhysics/PhysicsStructs-Impl.h | 78 +++++++- Code/GamePhysics/PhysicsStructs.h | 23 ++- Code/OysterPhysics3D/Box.cpp | 6 +- Code/OysterPhysics3D/Box.h | 12 +- Code/OysterPhysics3D/BoxAxisAligned.cpp | 12 +- Code/OysterPhysics3D/BoxAxisAligned.h | 6 +- Code/OysterPhysics3D/Frustrum.cpp | 14 +- Code/OysterPhysics3D/Frustrum.h | 2 +- Code/OysterPhysics3D/ICollideable.h | 2 +- Code/OysterPhysics3D/Line.cpp | 2 +- Code/OysterPhysics3D/Line.h | 2 +- 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proto = worldScene.GetCustomBody( protoTempRef ); auto deuter = worldScene.GetCustomBody( deuterTempRef ); - float deltaWhen; - Float3 worldWhere; - if( proto->Intersects(*deuter, 1.0f, deltaWhen, worldWhere) ) + Float4 worldPointOfContact; + if( proto->Intersects(*deuter, worldPointOfContact) ) { - proto->CallSubscription( proto, deuter ); + switch( proto->CallSubscription(proto, deuter) ) + { + case ICustomBody::SubscriptMessage_ignore_collision_response: + break; + default: + { // Apply CollisionResponse in pure gather pattern + ICustomBody::State protoState; proto->GetState( protoState ); + ICustomBody::State deuterState; proto->GetState( deuterState ); + + Float4 protoG = protoState.GetLinearMomentum( worldPointOfContact ), + deuterG = deuterState.GetLinearMomentum( worldPointOfContact ); + + // calc from perspective of deuter + Float4 normal; deuter->GetNormalAt( worldPointOfContact, normal ); + Float protoG_Magnitude = protoG.Dot( normal ), + deuterG_Magnitude = deuterG.Dot( normal ); + + // bounce + Float4 sumJ = normal * Formula::CollisionResponse::Impulse( deuterState.GetRestitutionCoeff(), + deuterState.GetMass(), deuterG_Magnitude, + protoState.GetMass(), protoG_Magnitude ); + + // @todo TODO: friction + // sumJ -= ; + + // calc from perspective of proto + proto->GetNormalAt( worldPointOfContact, normal ); + protoG_Magnitude = protoG.Dot( normal ), + deuterG_Magnitude = deuterG.Dot( normal ); + + // bounce + sumJ += normal * Formula::CollisionResponse::Impulse( protoState.GetRestitutionCoeff(), + protoState.GetMass(), protoG_Magnitude, + deuterState.GetMass(), deuterG_Magnitude ); + // @todo TODO: friction + // sumJ += ; + + protoState.ApplyImpulse( sumJ, worldPointOfContact, normal ); + proto->SetState( protoState ); + } + break; + } } } } @@ -71,10 +111,16 @@ void API_Impl::SetSubscription( API::EventAction_Destruction functionPointer ) void API_Impl::Update() { /** @todo TODO: Update is a temporary solution .*/ + + + ::std::vector updateList; auto proto = this->worldScene.Sample( Universe(), updateList ).begin(); for( ; proto != updateList.end(); ++proto ) { + // Step 1: @todo TODO: Apply Gravity + + // Step 2: Apply Collision Response this->worldScene.Visit( *proto, OnPossibleCollision ); } @@ -135,16 +181,6 @@ void API_Impl::ApplyForceAt( const ICustomBody* objRef, const Float3 &worldPos, } } -void API_Impl::ApplyCollisionResponse( const ICustomBody* objRefA, const ICustomBody* objRefB, Float &deltaWhen, Float3 &worldPointOfContact ) -{ - unsigned int tempRef = this->worldScene.GetTemporaryReferenceOf( objRefA ); - if( tempRef != this->worldScene.invalid_ref ) - { - //! @todo TODO: implement stub - this->worldScene.SetAsAltered( tempRef ); - } -} - void API_Impl::SetMomentOfInertiaTensor_KeepVelocity( const ICustomBody* objRef, const Float4x4 &localI ) { // deprecated unsigned int tempRef = this->worldScene.GetTemporaryReferenceOf( objRef ); diff --git a/Code/GamePhysics/Implementation/PhysicsAPI_Impl.h b/Code/GamePhysics/Implementation/PhysicsAPI_Impl.h index 5de9c05a..aea4c013 100644 --- a/Code/GamePhysics/Implementation/PhysicsAPI_Impl.h +++ b/Code/GamePhysics/Implementation/PhysicsAPI_Impl.h @@ -31,7 +31,6 @@ namespace Oyster void DestroyObject( const ICustomBody* objRef ); void ApplyForceAt( const ICustomBody* objRef, const ::Oyster::Math::Float3 &worldPos, const ::Oyster::Math::Float3 &worldF ); - void ApplyCollisionResponse( const ICustomBody* objRefA, const ICustomBody* objRefB, ::Oyster::Math::Float &deltaWhen, ::Oyster::Math::Float3 &worldPointOfContact ); void SetMomentOfInertiaTensor_KeepVelocity( const ICustomBody* objRef, const ::Oyster::Math::Float4x4 &localI ); void SetMomentOfInertiaTensor_KeepMomentum( const ICustomBody* objRef, const ::Oyster::Math::Float4x4 &localI ); diff --git a/Code/GamePhysics/Implementation/SimpleRigidBody.cpp b/Code/GamePhysics/Implementation/SimpleRigidBody.cpp index 80e352ea..49309a99 100644 --- a/Code/GamePhysics/Implementation/SimpleRigidBody.cpp +++ b/Code/GamePhysics/Implementation/SimpleRigidBody.cpp @@ -44,12 +44,12 @@ UniquePointer SimpleRigidBody::Clone() const SimpleRigidBody::State SimpleRigidBody::GetState() const { - return State( this->rigid.box.boundingOffset, this->rigid.box.center, AngularAxis(this->rigid.box.rotation).xyz ); + return State( this->rigid.box.boundingOffset.xyz, this->rigid.box.center.xyz, AngularAxis(this->rigid.box.rotation).xyz, this->rigid.linearMomentum, this->rigid.angularMomentum ); } SimpleRigidBody::State & SimpleRigidBody::GetState( SimpleRigidBody::State &targetMem ) const { - return targetMem = State( this->rigid.box.boundingOffset, this->rigid.box.center, AngularAxis(this->rigid.box.rotation).xyz ); + return targetMem = State( this->rigid.box.boundingOffset.xyz, this->rigid.box.center.xyz, AngularAxis(this->rigid.box.rotation).xyz, this->rigid.linearMomentum, this->rigid.angularMomentum ); } void SimpleRigidBody::SetState( const SimpleRigidBody::State &state ) @@ -59,9 +59,9 @@ void SimpleRigidBody::SetState( const SimpleRigidBody::State &state ) this->rigid.box.rotation = state.GetRotation(); } -void SimpleRigidBody::CallSubscription( const ICustomBody *proto, const ICustomBody *deuter ) +ICustomBody::SubscriptMessage SimpleRigidBody::CallSubscription( const ICustomBody *proto, const ICustomBody *deuter ) { - this->collisionAction( proto, deuter ); + return this->collisionAction( proto, deuter ); } bool SimpleRigidBody::IsAffectedByGravity() const @@ -69,31 +69,27 @@ bool SimpleRigidBody::IsAffectedByGravity() const return !this->ignoreGravity; } -bool SimpleRigidBody::Intersects( const ICustomBody &object, Float timeStepLength, Float &deltaWhen, Float3 &worldPointOfContact ) const -{ - if( object.Intersects(this->rigid.box) ) - { //! @todo TODO: better implementation needed - deltaWhen = timeStepLength; - worldPointOfContact = Average( this->rigid.box.center, object.GetCenter() ); - return true; - } - else - { - return false; - } -} - bool SimpleRigidBody::Intersects( const ICollideable &shape ) const { return this->rigid.box.Intersects( shape ); } +bool SimpleRigidBody::Intersects( const ICollideable &shape, Float4 &worldPointOfContact ) const +{ + return this->rigid.box.Intersects( shape, worldPointOfContact ); +} + +bool SimpleRigidBody::Intersects( const ICustomBody &object, Float4 &worldPointOfContact ) const +{ + return object.Intersects( this->rigid.box, worldPointOfContact ); +} + Sphere & SimpleRigidBody::GetBoundingSphere( Sphere &targetMem ) const { return targetMem = Sphere( this->rigid.box.center, this->rigid.box.boundingOffset.GetMagnitude() ); } -Float3 & SimpleRigidBody::GetNormalAt( const Float3 &worldPos, Float3 &targetMem ) const +Float4 & SimpleRigidBody::GetNormalAt( const Float4 &worldPos, Float4 &targetMem ) const { //! @todo TODO: better implementation needed return targetMem = (worldPos - this->rigid.box.center).GetNormalized(); diff --git a/Code/GamePhysics/Implementation/SimpleRigidBody.h b/Code/GamePhysics/Implementation/SimpleRigidBody.h index 9eefeb48..40448292 100644 --- a/Code/GamePhysics/Implementation/SimpleRigidBody.h +++ b/Code/GamePhysics/Implementation/SimpleRigidBody.h @@ -20,13 +20,14 @@ namespace Oyster { namespace Physics void SetState( const State &state ); ::Oyster::Math::Float3 GetRigidLinearVelocity() const; - void CallSubscription( const ICustomBody *proto, const ICustomBody *deuter ); + SubscriptMessage CallSubscription( const ICustomBody *proto, const ICustomBody *deuter ); bool IsAffectedByGravity() const; - bool Intersects( const ICustomBody &object, ::Oyster::Math::Float timeStepLength, ::Oyster::Math::Float &deltaWhen, ::Oyster::Math::Float3 &worldPointOfContact ) const; bool Intersects( const ::Oyster::Collision3D::ICollideable &shape ) const; + bool Intersects( const ::Oyster::Collision3D::ICollideable &shape, ::Oyster::Math::Float4 &worldPointOfContact ) const; + bool Intersects( const ICustomBody &object, ::Oyster::Math::Float4 &worldPointOfContact ) const; ::Oyster::Collision3D::Sphere & GetBoundingSphere( ::Oyster::Collision3D::Sphere &targetMem = ::Oyster::Collision3D::Sphere() ) const; - ::Oyster::Math::Float3 & GetNormalAt( const ::Oyster::Math::Float3 &worldPos, ::Oyster::Math::Float3 &targetMem = ::Oyster::Math::Float3() ) const; + ::Oyster::Math::Float4 & GetNormalAt( const ::Oyster::Math::Float4 &worldPos, ::Oyster::Math::Float4 &targetMem = ::Oyster::Math::Float4() ) const; ::Oyster::Math::Float3 & GetGravityNormal( ::Oyster::Math::Float3 &targetMem = ::Oyster::Math::Float3() ) const; ::Oyster::Math::Float3 & GetCenter( ::Oyster::Math::Float3 &targetMem = ::Oyster::Math::Float3() ) const; ::Oyster::Math::Float4x4 & GetRotation( ::Oyster::Math::Float4x4 &targetMem = ::Oyster::Math::Float4x4() ) const; diff --git a/Code/GamePhysics/Implementation/SphericalRigidBody.cpp b/Code/GamePhysics/Implementation/SphericalRigidBody.cpp index ce31456e..6b63a699 100644 --- a/Code/GamePhysics/Implementation/SphericalRigidBody.cpp +++ b/Code/GamePhysics/Implementation/SphericalRigidBody.cpp @@ -46,12 +46,12 @@ UniquePointer SphericalRigidBody::Clone() const SphericalRigidBody::State SphericalRigidBody::GetState() const { - return State( this->rigid.box.boundingOffset, this->rigid.box.center, AngularAxis(this->rigid.box.rotation).xyz ); + return State( this->rigid.box.boundingOffset.xyz, this->rigid.box.center.xyz, AngularAxis(this->rigid.box.rotation).xyz, this->rigid.linearMomentum, this->rigid.angularMomentum ); } SphericalRigidBody::State & SphericalRigidBody::GetState( SphericalRigidBody::State &targetMem ) const { - return targetMem = State( this->rigid.box.boundingOffset, this->rigid.box.center, AngularAxis(this->rigid.box.rotation).xyz ); + return targetMem = State( this->rigid.box.boundingOffset.xyz, this->rigid.box.center.xyz, AngularAxis(this->rigid.box.rotation).xyz, this->rigid.linearMomentum, this->rigid.angularMomentum ); } void SphericalRigidBody::SetState( const SphericalRigidBody::State &state ) @@ -61,9 +61,9 @@ void SphericalRigidBody::SetState( const SphericalRigidBody::State &state ) this->rigid.box.rotation = state.GetRotation(); } -void SphericalRigidBody::CallSubscription( const ICustomBody *proto, const ICustomBody *deuter ) +ICustomBody::SubscriptMessage SphericalRigidBody::CallSubscription( const ICustomBody *proto, const ICustomBody *deuter ) { - this->collisionAction( proto, deuter ); + return this->collisionAction( proto, deuter ); } bool SphericalRigidBody::IsAffectedByGravity() const @@ -71,23 +71,19 @@ bool SphericalRigidBody::IsAffectedByGravity() const return !this->ignoreGravity; } -bool SphericalRigidBody::Intersects( const ICustomBody &object, Float timeStepLength, Float &deltaWhen, Float3 &worldPointOfContact ) const -{ - if( object.Intersects(this->body) ) - { //! @todo TODO: better implementation needed - deltaWhen = timeStepLength; - worldPointOfContact = Average( this->body.center, object.GetCenter() ); - return true; - } - else - { - return false; - } -} - bool SphericalRigidBody::Intersects( const ICollideable &shape ) const { - return this->rigid.box.Intersects( shape ); + return Sphere( this->rigid.box.center, this->rigid.box.boundingOffset.x ).Intersects( shape ); +} + +bool SphericalRigidBody::Intersects( const ICollideable &shape, Float4 &worldPointOfContact ) const +{ + return Sphere( this->rigid.box.center, this->rigid.box.boundingOffset.x ).Intersects( shape, worldPointOfContact ); +} + +bool SphericalRigidBody::Intersects( const ICustomBody &object, Float4 &worldPointOfContact ) const +{ + return object.Intersects( Sphere(this->rigid.box.center, this->rigid.box.boundingOffset.x), worldPointOfContact ); } Sphere & SphericalRigidBody::GetBoundingSphere( Sphere &targetMem ) const @@ -95,7 +91,7 @@ Sphere & SphericalRigidBody::GetBoundingSphere( Sphere &targetMem ) const return targetMem = this->body; } -Float3 & SphericalRigidBody::GetNormalAt( const Float3 &worldPos, Float3 &targetMem ) const +Float4 & SphericalRigidBody::GetNormalAt( const Float4 &worldPos, Float4 &targetMem ) const { //! @todo TODO: better implementation needed return targetMem = (worldPos - this->rigid.box.center).GetNormalized(); diff --git a/Code/GamePhysics/Implementation/SphericalRigidBody.h b/Code/GamePhysics/Implementation/SphericalRigidBody.h index 4d003f99..cf02a10c 100644 --- a/Code/GamePhysics/Implementation/SphericalRigidBody.h +++ b/Code/GamePhysics/Implementation/SphericalRigidBody.h @@ -21,13 +21,14 @@ namespace Oyster { namespace Physics void SetState( const State &state ); ::Oyster::Math::Float3 GetRigidLinearVelocity() const; - void CallSubscription( const ICustomBody *proto, const ICustomBody *deuter ); + SubscriptMessage CallSubscription( const ICustomBody *proto, const ICustomBody *deuter ); bool IsAffectedByGravity() const; - bool Intersects( const ICustomBody &object, ::Oyster::Math::Float timeStepLength, ::Oyster::Math::Float &deltaWhen, ::Oyster::Math::Float3 &worldPointOfContact ) const; bool Intersects( const ::Oyster::Collision3D::ICollideable &shape ) const; + bool Intersects( const ::Oyster::Collision3D::ICollideable &shape, ::Oyster::Math::Float4 &worldPointOfContact ) const; + bool Intersects( const ICustomBody &object, ::Oyster::Math::Float4 &worldPointOfContact ) const; ::Oyster::Collision3D::Sphere & GetBoundingSphere( ::Oyster::Collision3D::Sphere &targetMem = ::Oyster::Collision3D::Sphere() ) const; - ::Oyster::Math::Float3 & GetNormalAt( const ::Oyster::Math::Float3 &worldPos, ::Oyster::Math::Float3 &targetMem = ::Oyster::Math::Float3() ) const; + ::Oyster::Math::Float4 & GetNormalAt( const ::Oyster::Math::Float4 &worldPos, ::Oyster::Math::Float4 &targetMem = ::Oyster::Math::Float4() ) const; ::Oyster::Math::Float3 & GetGravityNormal( ::Oyster::Math::Float3 &targetMem = ::Oyster::Math::Float3() ) const; ::Oyster::Math::Float3 & GetCenter( ::Oyster::Math::Float3 &targetMem = ::Oyster::Math::Float3() ) const; ::Oyster::Math::Float4x4 & GetRotation( ::Oyster::Math::Float4x4 &targetMem = ::Oyster::Math::Float4x4() ) const; diff --git a/Code/GamePhysics/PhysicsAPI.h b/Code/GamePhysics/PhysicsAPI.h index 6c43a754..46c8c70d 100644 --- a/Code/GamePhysics/PhysicsAPI.h +++ b/Code/GamePhysics/PhysicsAPI.h @@ -132,15 +132,6 @@ namespace Oyster ********************************************************/ virtual void ApplyForceAt( const ICustomBody* objRef, const ::Oyster::Math::Float3 &worldPos, const ::Oyster::Math::Float3 &worldF ) = 0; - /******************************************************** - * Apply force on an object. - * @param objRefA: A pointer to the ICustomBody representing a physical object. - * @param objRefB: A pointer to the ICustomBody representing a physical object. - * @param deltaWhen: The elapsed simulation time since last update frame. [s] - * @param worldPointOfContact: Point of Collision, relative to the world origo. (Not relative to the objects) [m] - ********************************************************/ - virtual void ApplyCollisionResponse( const ICustomBody* objRefA, const ICustomBody* objRefB, ::Oyster::Math::Float &deltaWhen, ::Oyster::Math::Float3 &worldPointOfContact ) = 0; - /******************************************************** * Sets the MomentOfInertia tensor matrix of an object without changing it's angular velocity. * Noticeable effect: The angular momentum will change. Changing the amount of kinetic energy. @@ -229,11 +220,6 @@ namespace Oyster SubscriptMessage_ignore_collision_response }; - /******************************************************** - * @param gameObjectRef: a pointer to the object in the game owning the rigid body. - ********************************************************/ - void* gameObjectRef; - typedef SubscriptMessage (*EventAction_Collision)( const ICustomBody *proto, const ICustomBody *deuter ); typedef Struct::SimpleBodyDescription SimpleBodyDescription; typedef Struct::SphericalBodyDescription SphericalBodyDescription; @@ -250,7 +236,7 @@ namespace Oyster /******************************************************** * @todo TODO: need doc ********************************************************/ - virtual void CallSubscription( const ICustomBody *proto, const ICustomBody *deuter ) = 0; + virtual SubscriptMessage CallSubscription( const ICustomBody *proto, const ICustomBody *deuter ) = 0; /******************************************************** * @todo TODO: need doc @@ -277,22 +263,28 @@ namespace Oyster ********************************************************/ virtual bool IsAffectedByGravity() const = 0; - /******************************************************** - * Performs a detailed Intersect test and returns if, when and where. - * @param object: What this is intersect testing against. - * @param timeStepLength: The value set by API::SetDeltaTime(...) - * @param deltaWhen: Time in seconds since last update frame til timeOfContact. 0.0f <= deltaWhen <= timeStepLength - * @param worldPointOfContact: Where at timeOfContact, this and object touches eachother. - * @return true if this truly intersects with object. - ********************************************************/ - virtual bool Intersects( const ICustomBody &object, ::Oyster::Math::Float timeStepLength, ::Oyster::Math::Float &deltaWhen, ::Oyster::Math::Float3 &worldPointOfContact ) const = 0; - /******************************************************** * param shape: Any defined sample shape. * @return true if this truly intersects with shape. ********************************************************/ virtual bool Intersects( const ::Oyster::Collision3D::ICollideable &shape ) const = 0; + /******************************************************** + * Performs a detailed Intersect test and returns if, when and where. + * @param shape: Any defined sample shape. + * @param worldPointOfContact: Where at timeOfContact, this and object touches eachother. + * @return true if this truly intersects with object. + ********************************************************/ + virtual bool Intersects( const ::Oyster::Collision3D::ICollideable &shape, ::Oyster::Math::Float4 &worldPointOfContact ) const = 0; + + /******************************************************** + * Performs a detailed Intersect test and returns if, when and where. + * @param object: What this is intersect testing against. + * @param worldPointOfContact: Where at timeOfContact, this and object touches eachother. + * @return true if this truly intersects with object. + ********************************************************/ + virtual bool Intersects( const ICustomBody &object, ::Oyster::Math::Float4 &worldPointOfContact ) const = 0; + /******************************************************** * Required by Engine's Collision Search. * @param targetMem: Provided memory that written into and then returned. @@ -306,7 +298,7 @@ namespace Oyster * @param targetMem: Provided memory that written into and then returned. * @return a surface normal in worldSpace. ********************************************************/ - virtual ::Oyster::Math::Float3 & GetNormalAt( const ::Oyster::Math::Float3 &worldPos, ::Oyster::Math::Float3 &targetMem = ::Oyster::Math::Float3() ) const = 0; + virtual ::Oyster::Math::Float4 & GetNormalAt( const ::Oyster::Math::Float4 &worldPos, ::Oyster::Math::Float4 &targetMem = ::Oyster::Math::Float4() ) const = 0; /******************************************************** * The gravity normal will have same direction as the total gravity force pulling on this and have the magnitude of 1.0f. diff --git a/Code/GamePhysics/PhysicsFormula.h b/Code/GamePhysics/PhysicsFormula.h index c015e571..156b9e45 100644 --- a/Code/GamePhysics/PhysicsFormula.h +++ b/Code/GamePhysics/PhysicsFormula.h @@ -17,8 +17,8 @@ namespace Oyster { namespace Physics { namespace Formula namespace CollisionResponse { ::Oyster::Math::Float Impulse( ::Oyster::Math::Float coeffOfRestitution, - ::Oyster::Math::Float massA, ::Oyster::Math::Float momentumA, - ::Oyster::Math::Float massB, ::Oyster::Math::Float momentumB ); + ::Oyster::Math::Float massA, ::Oyster::Math::Float momentumA, + ::Oyster::Math::Float massB, ::Oyster::Math::Float momentumB ); } } } } diff --git a/Code/GamePhysics/PhysicsStructs-Impl.h b/Code/GamePhysics/PhysicsStructs-Impl.h index 3de46ee2..daf108bb 100644 --- a/Code/GamePhysics/PhysicsStructs-Impl.h +++ b/Code/GamePhysics/PhysicsStructs-Impl.h @@ -28,12 +28,13 @@ namespace Oyster { namespace Physics this->ignoreGravity = false; } - - inline CustomBodyState::CustomBodyState( const ::Oyster::Math::Float3 &reach, const ::Oyster::Math::Float3 ¢erPos, const ::Oyster::Math::Float3 &rotation ) + inline CustomBodyState::CustomBodyState( const ::Oyster::Math::Float3 &reach, const ::Oyster::Math::Float3 ¢erPos, const ::Oyster::Math::Float3 &rotation, const ::Oyster::Math::Float3 &linearMomentum, const ::Oyster::Math::Float3 &angularMomentum ) { this->reach = ::Oyster::Math::Float4( reach, 0.0f ); this->centerPos = ::Oyster::Math::Float4( centerPos, 1.0f ); this->angularAxis = ::Oyster::Math::Float4( rotation, 0.0f ); + this->linearMomentum = ::Oyster::Math::Float4( linearMomentum, 0.0f ); + this->angularMomentum = ::Oyster::Math::Float4( angularMomentum, 0.0f ); this->isSpatiallyAltered = this->isDisturbed = false; } @@ -42,6 +43,8 @@ namespace Oyster { namespace Physics this->reach = state.reach; this->centerPos = state.centerPos; this->angularAxis = state.angularAxis; + this->linearMomentum = state.linearMomentum; + this->angularMomentum = state.angularMomentum; this->isSpatiallyAltered = state.isSpatiallyAltered; this->isDisturbed = state.isDisturbed; @@ -73,6 +76,39 @@ namespace Oyster { namespace Physics return ::Oyster::Math3D::RotationMatrix( this->GetAngularAxis().xyz ); } + inline const ::Oyster::Math::Float CustomBodyState::GetMass() const + { + //! @todo TODO: stub to be implemented (CustomBodyState::GetMass) + return 1.0f; + } + + inline const ::Oyster::Math::Float CustomBodyState::GetRestitutionCoeff() const + { + //! @todo TODO: stub to be implemented (CustomBodyState::GetRestitutionCoeff) + return 1.0f; + } + + inline const ::Oyster::Math::Float4 & CustomBodyState::GetLinearMomentum() const + { + return this->linearMomentum; + } + + inline ::Oyster::Math::Float4 CustomBodyState::GetLinearMomentum( const ::Oyster::Math::Float3 &at ) const + { + return this->GetLinearMomentum( ::Oyster::Math::Float4(at, 1.0f) ); + } + + inline ::Oyster::Math::Float4 CustomBodyState::GetLinearMomentum( const ::Oyster::Math::Float4 &at ) const + { + //! @todo TODO: stub to be implemented (CustomBodyState::GetLinearMomentum) + return ::Oyster::Math::Float4::null; + } + + inline const ::Oyster::Math::Float4 & CustomBodyState::GetAngularMomentum() const + { + return this->angularMomentum; + } + inline void CustomBodyState::SetSize( const ::Oyster::Math::Float3 &size ) { this->SetReach( 0.5f * size ); @@ -102,6 +138,44 @@ namespace Oyster { namespace Physics this->SetRotation( ::Oyster::Math3D::AngularAxis(rotation).xyz ); } + inline void CustomBodyState::SetMass( ::Oyster::Math::Float m ) + { + //! @todo TODO: stub to be implemented (CustomBodyState::SetRestitutionCoeff) + } + + inline void CustomBodyState::SetRestitutionCoeff( ::Oyster::Math::Float e ) + { + //! @todo TODO: stub to be implemented (CustomBodyState::SetRestitutionCoeff) + } + + inline void CustomBodyState::SetLinearMomentum( const ::Oyster::Math::Float3 &g ) + { + this->linearMomentum = ::Oyster::Math::Float4( g, 0.0f ); + this->isDisturbed = true; + } + + inline void CustomBodyState::SetAngularMomentum( const ::Oyster::Math::Float3 &h ) + { + this->angularMomentum = ::Oyster::Math::Float4( h, 0.0f ); + this->isDisturbed = true; + } + + inline void CustomBodyState::ApplyImpulse( const ::Oyster::Math::Float4 &j ) + { + this->linearMomentum += j; + this->isDisturbed = true; + } + + inline void CustomBodyState::ApplyImpulse( const ::Oyster::Math::Float4 &j, const ::Oyster::Math::Float4 &at, const ::Oyster::Math::Float4 &normal ) + { + //! @todo TODO: stub to be implemented (CustomBodyState::ApplyImpulse) + + this->linearMomentum += j.Dot( normal ) * normal; // perpendicular impulse component + //this->angularImpulse += Formula:: ... + + this->isDisturbed = true; + } + inline bool CustomBodyState::IsSpatiallyAltered() const { return this->isSpatiallyAltered; diff --git a/Code/GamePhysics/PhysicsStructs.h b/Code/GamePhysics/PhysicsStructs.h index c1f74640..e3c20fea 100644 --- a/Code/GamePhysics/PhysicsStructs.h +++ b/Code/GamePhysics/PhysicsStructs.h @@ -36,9 +36,11 @@ namespace Oyster { namespace Physics struct CustomBodyState { public: - CustomBodyState( const ::Oyster::Math::Float3 &reach = ::Oyster::Math::Float3::null, - const ::Oyster::Math::Float3 ¢erPos = ::Oyster::Math::Float3::null, - const ::Oyster::Math::Float3 &rotation = ::Oyster::Math::Float3::null ); + CustomBodyState( const ::Oyster::Math::Float3 &reach = ::Oyster::Math::Float3::null, + const ::Oyster::Math::Float3 ¢erPos = ::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 ); CustomBodyState & operator = ( const CustomBodyState &state ); @@ -47,18 +49,33 @@ namespace Oyster { namespace Physics const ::Oyster::Math::Float4 & GetCenterPosition() const; const ::Oyster::Math::Float4 & GetAngularAxis() const; ::Oyster::Math::Float4x4 GetRotation() const; + const ::Oyster::Math::Float GetMass() const; + const ::Oyster::Math::Float GetRestitutionCoeff() const; + const ::Oyster::Math::Float4 & GetLinearMomentum() const; + ::Oyster::Math::Float4 GetLinearMomentum( const ::Oyster::Math::Float3 &at ) const; + ::Oyster::Math::Float4 GetLinearMomentum( const ::Oyster::Math::Float4 &at ) const; + const ::Oyster::Math::Float4 & GetAngularMomentum() const; + void SetSize( const ::Oyster::Math::Float3 &size ); void SetReach( const ::Oyster::Math::Float3 &halfSize ); void SetCenterPosition( const ::Oyster::Math::Float3 ¢erPos ); void SetRotation( const ::Oyster::Math::Float3 &angularAxis ); void SetRotation( const ::Oyster::Math::Float4x4 &rotation ); + void SetMass( ::Oyster::Math::Float m ); + void SetRestitutionCoeff( ::Oyster::Math::Float e ); + void SetLinearMomentum( const ::Oyster::Math::Float3 &g ); + void SetAngularMomentum( const ::Oyster::Math::Float3 &h ); + + void ApplyImpulse( const ::Oyster::Math::Float4 &j ); + void ApplyImpulse( const ::Oyster::Math::Float4 &j, const ::Oyster::Math::Float4 &at, const ::Oyster::Math::Float4 &normal ); bool IsSpatiallyAltered() const; bool IsDisturbed() const; private: ::Oyster::Math::Float4 reach, centerPos, angularAxis; + ::Oyster::Math::Float4 linearMomentum, angularMomentum; bool isSpatiallyAltered, isDisturbed; }; diff --git a/Code/OysterPhysics3D/Box.cpp b/Code/OysterPhysics3D/Box.cpp index 7d67754c..94f948a6 100644 --- a/Code/OysterPhysics3D/Box.cpp +++ b/Code/OysterPhysics3D/Box.cpp @@ -18,8 +18,8 @@ Box::Box( ) : ICollideable(Type_box) Box::Box( const Float4x4 &r, const Float3 &p, const Float3 &s ) : ICollideable(Type_box) { this->rotation = r; - this->center = p; - this->boundingOffset = Float3(s*0.5); + this->center = Float4( p, 1.0f ); + this->boundingOffset = Float4( s * 0.5f , 0.0f); } Box::~Box( ) {} @@ -54,7 +54,7 @@ bool Box::Intersects( const ICollideable &target ) const } } -bool Box::Intersects( const ICollideable &target, Float3 &worldPointOfContact ) const +bool Box::Intersects( const ICollideable &target, Float4 &worldPointOfContact ) const { switch( target.type ) { diff --git a/Code/OysterPhysics3D/Box.h b/Code/OysterPhysics3D/Box.h index bdef2f9a..3259908f 100644 --- a/Code/OysterPhysics3D/Box.h +++ b/Code/OysterPhysics3D/Box.h @@ -16,14 +16,14 @@ namespace Oyster { namespace Collision3D public: union { - struct{ ::Oyster::Math::Float4x4 rotation; ::Oyster::Math::Float3 center, boundingOffset; }; + struct{ ::Oyster::Math::Float4x4 rotation; ::Oyster::Math::Float4 center, boundingOffset; }; struct { - ::Oyster::Math::Float3 xAxis; ::Oyster::Math::Float paddingA; - ::Oyster::Math::Float3 yAxis; ::Oyster::Math::Float paddingB; - ::Oyster::Math::Float3 zAxis; ::Oyster::Math::Float paddingC; + ::Oyster::Math::Float4 xAxis; + ::Oyster::Math::Float4 yAxis; + ::Oyster::Math::Float4 zAxis; }; - char byte[sizeof(::Oyster::Math::Float4x4) + 2*sizeof(::Oyster::Math::Float3)]; + char byte[sizeof(::Oyster::Math::Float4x4) + 2*sizeof(::Oyster::Math::Float4)]; }; Box( ); @@ -34,7 +34,7 @@ namespace Oyster { namespace Collision3D virtual ::Utility::DynamicMemory::UniquePointer Clone( ) const; bool Intersects( const ICollideable &target ) const; - bool Intersects( const ICollideable &target, ::Oyster::Math::Float3 &worldPointOfContact ) const; + bool Intersects( const ICollideable &target, ::Oyster::Math::Float4 &worldPointOfContact ) const; bool Contains( const ICollideable &target ) const; }; } } diff --git a/Code/OysterPhysics3D/BoxAxisAligned.cpp b/Code/OysterPhysics3D/BoxAxisAligned.cpp index a0ebdd63..bd10016f 100644 --- a/Code/OysterPhysics3D/BoxAxisAligned.cpp +++ b/Code/OysterPhysics3D/BoxAxisAligned.cpp @@ -14,16 +14,16 @@ BoxAxisAligned::BoxAxisAligned( ) : ICollideable(Type_box_axis_aligned) this->maxVertex = Float3( 0.5f, 0.5f, 0.5f ); } -BoxAxisAligned::BoxAxisAligned( const Float3 &_minVertex, const Float3 &_maxVertex ) : ICollideable(Type_box_axis_aligned) +BoxAxisAligned::BoxAxisAligned( const Float3 &minVertex, const Float3 &maxVertex ) : ICollideable(Type_box_axis_aligned) { - this->minVertex = _minVertex; - this->maxVertex = _maxVertex; + this->minVertex = Float4( minVertex, 1.0f ); + this->maxVertex = Float4( maxVertex, 1.0f ); } BoxAxisAligned::BoxAxisAligned( const Float &leftClip, const Float &rightClip, const Float &topClip, const Float &bottomClip, const Float &nearClip, const Float &farClip ) : ICollideable(Type_box_axis_aligned) { - this->minVertex = Float3( leftClip, bottomClip, nearClip ); - this->maxVertex = Float3( rightClip, topClip, farClip ); + this->minVertex = Float4( leftClip, bottomClip, nearClip, 1.0f ); + this->maxVertex = Float4( rightClip, topClip, farClip, 1.0f ); } BoxAxisAligned::~BoxAxisAligned( ) {} @@ -57,7 +57,7 @@ bool BoxAxisAligned::Intersects( const ICollideable &target ) const } } -bool BoxAxisAligned::Intersects( const ICollideable &target, Float3 &worldPointOfContact ) const +bool BoxAxisAligned::Intersects( const ICollideable &target, Float4 &worldPointOfContact ) const { //! @todo TODO: implement stub properly return this->Intersects( target ); diff --git a/Code/OysterPhysics3D/BoxAxisAligned.h b/Code/OysterPhysics3D/BoxAxisAligned.h index 374c888f..2ff39463 100644 --- a/Code/OysterPhysics3D/BoxAxisAligned.h +++ b/Code/OysterPhysics3D/BoxAxisAligned.h @@ -16,8 +16,8 @@ namespace Oyster { namespace Collision3D public: union { - struct{ ::Oyster::Math::Float3 minVertex, maxVertex; }; - char byte[2*sizeof(::Oyster::Math::Float3)]; + struct{ ::Oyster::Math::Float4 minVertex, maxVertex; }; + char byte[2*sizeof(::Oyster::Math::Float4)]; }; BoxAxisAligned( ); @@ -29,7 +29,7 @@ namespace Oyster { namespace Collision3D virtual ::Utility::DynamicMemory::UniquePointer Clone( ) const; bool Intersects( const ICollideable &target ) const; - bool Intersects( const ICollideable &target, ::Oyster::Math::Float3 &worldPointOfContact ) const; + bool Intersects( const ICollideable &target, ::Oyster::Math::Float4 &worldPointOfContact ) const; bool Contains( const ICollideable &target ) const; }; } } diff --git a/Code/OysterPhysics3D/Frustrum.cpp b/Code/OysterPhysics3D/Frustrum.cpp index e8aa65fa..54e6a67f 100644 --- a/Code/OysterPhysics3D/Frustrum.cpp +++ b/Code/OysterPhysics3D/Frustrum.cpp @@ -76,12 +76,12 @@ namespace PrivateStatic Frustrum::Frustrum() : ICollideable(Type_frustrum) { - this->leftPlane = Plane( Float3::standard_unit_x, -0.5f ); - this->rightPlane = Plane(-Float3::standard_unit_x, 0.5f ), - this->bottomPlane = Plane( Float3::standard_unit_y, -0.5f ); - this->topPlane = Plane(-Float3::standard_unit_y, 0.5f ); - this->nearPlane = Plane( Float3::standard_unit_z, -0.5f ); - this->farPlane = Plane(-Float3::standard_unit_z, 0.5f ); + this->leftPlane = Plane( Float4::standard_unit_x, -0.5f ); + this->rightPlane = Plane(-Float4::standard_unit_x, 0.5f ), + this->bottomPlane = Plane( Float4::standard_unit_y, -0.5f ); + this->topPlane = Plane(-Float4::standard_unit_y, 0.5f ); + this->nearPlane = Plane( Float4::standard_unit_z, -0.5f ); + this->farPlane = Plane(-Float4::standard_unit_z, 0.5f ); } Frustrum::Frustrum( const Float4x4 &vp ) : ICollideable(Type_frustrum) @@ -220,7 +220,7 @@ bool Frustrum::Intersects( const ICollideable &target ) const } } -bool Frustrum::Intersects( const ICollideable &target, Float3 &worldPointOfContact ) const +bool Frustrum::Intersects( const ICollideable &target, Float4 &worldPointOfContact ) const { //! @todo TODO: implement stub properly return this->Intersects( target ); diff --git a/Code/OysterPhysics3D/Frustrum.h b/Code/OysterPhysics3D/Frustrum.h index c59d89f5..ba5656c5 100644 --- a/Code/OysterPhysics3D/Frustrum.h +++ b/Code/OysterPhysics3D/Frustrum.h @@ -39,7 +39,7 @@ namespace Oyster { namespace Collision3D virtual ::Utility::DynamicMemory::UniquePointer Clone( ) const; bool Intersects( const ICollideable &target ) const; - bool Intersects( const ICollideable &target, Oyster::Math::Float3 &worldPointOfContact ) const; + bool Intersects( const ICollideable &target, Oyster::Math::Float4 &worldPointOfContact ) const; bool Contains( const ICollideable &target ) const; }; diff --git a/Code/OysterPhysics3D/ICollideable.h b/Code/OysterPhysics3D/ICollideable.h index a8eb9464..b3f61671 100644 --- a/Code/OysterPhysics3D/ICollideable.h +++ b/Code/OysterPhysics3D/ICollideable.h @@ -35,7 +35,7 @@ namespace Oyster { namespace Collision3D //! Contains a collection of 3D shapes virtual ~ICollideable(); virtual ::Utility::DynamicMemory::UniquePointer Clone( ) const = 0; - virtual bool Intersects( const ICollideable &target, ::Oyster::Math::Float3 &worldPointOfContact ) const = 0; + virtual bool Intersects( const ICollideable &target, ::Oyster::Math::Float4 &worldPointOfContact ) const = 0; virtual bool Intersects( const ICollideable &target ) const = 0; virtual bool Contains( const ICollideable &target ) const = 0; }; diff --git a/Code/OysterPhysics3D/Line.cpp b/Code/OysterPhysics3D/Line.cpp index 0d3c3dcd..cebceaff 100644 --- a/Code/OysterPhysics3D/Line.cpp +++ b/Code/OysterPhysics3D/Line.cpp @@ -55,7 +55,7 @@ bool Line::Intersects( const ICollideable &target ) const return false; } -bool Line::Intersects( const ICollideable &target, Float3 &worldPointOfContact ) const +bool Line::Intersects( const ICollideable &target, Float4 &worldPointOfContact ) const { if( target.type == Type_universe ) { diff --git a/Code/OysterPhysics3D/Line.h b/Code/OysterPhysics3D/Line.h index e90e7ac4..2e6d2d55 100644 --- a/Code/OysterPhysics3D/Line.h +++ b/Code/OysterPhysics3D/Line.h @@ -30,7 +30,7 @@ namespace Oyster { namespace Collision3D virtual ::Utility::DynamicMemory::UniquePointer Clone( ) const; bool Intersects( const ICollideable &target ) const; - bool Intersects( const ICollideable &target, ::Oyster::Math::Float3 &worldPointOfContact ) const; + bool Intersects( const ICollideable &target, ::Oyster::Math::Float4 &worldPointOfContact ) const; bool Contains( const ICollideable &target ) const; }; } } diff --git a/Code/OysterPhysics3D/OysterCollision3D.cpp b/Code/OysterPhysics3D/OysterCollision3D.cpp index 835be03a..526f87e7 100644 --- a/Code/OysterPhysics3D/OysterCollision3D.cpp +++ b/Code/OysterPhysics3D/OysterCollision3D.cpp @@ -30,10 +30,10 @@ namespace Oyster { namespace Collision3D { namespace Utility } // returns true if miss/reject - bool BoxVsRayPerSlabCheck( const Float3 &axis, const Float &boundingOffset, const Float3 &deltaPos, const Float3 rayDirection, Float &tMin, Float &tMax ) + bool BoxVsRayPerSlabCheck( const Float4 &axis, const Float &boundingOffset, const Float4 &deltaPos, const Float4 rayDirection, Float &tMin, Float &tMax ) { // by Dan Andersson Float e = axis.Dot( deltaPos ), - f = axis.Dot( rayDirection ); + f = axis.Dot( rayDirection ); if( EqualsZero(f) ) // if axis is not parallell with ray { Float t1 = e + boundingOffset, @@ -51,12 +51,12 @@ namespace Oyster { namespace Collision3D { namespace Utility return false; } - inline bool Contains( const Plane &container, const Float3 &pos ) + inline bool Contains( const Plane &container, const Float4 &pos ) { // by Dan Andersson return EqualsZero( container.normal.Dot( pos ) + container.phasing ); } - inline void Compare( Float &connectOffset, const Plane &plane, const Float3 &pos ) + inline void Compare( Float &connectOffset, const Plane &plane, const Float4 &pos ) { // by Dan Andersson connectOffset = plane.normal.Dot(pos); connectOffset += plane.phasing; @@ -64,7 +64,7 @@ namespace Oyster { namespace Collision3D { namespace Utility void Compare( Float &boxExtend, Float ¢erDistance, const Plane &plane, const BoxAxisAligned &box ) { // by Dan Andersson - Float3 c = (box.maxVertex + box.minVertex) * 0.5f, // box.Center + Float4 c = (box.maxVertex + box.minVertex) * 0.5f, // box.Center h = (box.maxVertex - box.minVertex) * 0.5f; // box.halfSize boxExtend = h.x * Abs(plane.normal.x); // Box max extending towards plane boxExtend += h.y * Abs(plane.normal.y); @@ -81,7 +81,7 @@ namespace Oyster { namespace Collision3D { namespace Utility centerDistance = box.center.Dot(plane.normal) + plane.phasing; // distance between box center and plane } - bool SeperatingAxisTest_AxisAlignedVsTransformedBox( const Float3 &boundingOffsetA, const Float3 &boundingOffsetB, const Float4x4 &rotationB, const Float4 &worldOffset ) + bool SeperatingAxisTest_AxisAlignedVsTransformedBox( const Float4 &boundingOffsetA, const Float4 &boundingOffsetB, const Float4x4 &rotationB, const Float4 &worldOffset ) { // by Dan Andersson /***************************************************************** @@ -103,37 +103,37 @@ namespace Oyster { namespace Collision3D { namespace Utility Float3 absWorldOffset = Abs(worldOffset); // |t|: [absWorldOffset] // s = { 1, 0, 0 } [ RA.v[0] ] - if( absWorldOffset.x > boundingOffsetA.x + boundingOffsetB.Dot(Float3(absRotationB.v[0].x, absRotationB.v[1].x, absRotationB.v[2].x)) ) + if( absWorldOffset.x > boundingOffsetA.x + boundingOffsetB.Dot(Float4(absRotationB.v[0].x, absRotationB.v[1].x, absRotationB.v[2].x, 0.0f)) ) { // |t dot s| > hA dot |s| + hB dot |s * RB| -->> t.x > hA.x + hB dot |{RB.v[0].x, RB.v[1].x, RB.v[2].x}| return false; } // s = { 0, 1, 0 } [ RA.v[1] ] - if( absWorldOffset.y > boundingOffsetA.y + boundingOffsetB.Dot(Float3(absRotationB.v[0].y, absRotationB.v[1].y, absRotationB.v[2].y)) ) + if( absWorldOffset.y > boundingOffsetA.y + boundingOffsetB.Dot(Float4(absRotationB.v[0].y, absRotationB.v[1].y, absRotationB.v[2].y, 0.0f)) ) { // t.y > hA.y + hB dot |{RB.v[0].y, RB.v[1].y, RB.v[2].y}| return false; } // s = { 0, 0, 1 } [ RA.v[2] ] - if( absWorldOffset.z > boundingOffsetA.z + boundingOffsetB.Dot(Float3(absRotationB.v[0].z, absRotationB.v[1].z, absRotationB.v[2].z)) ) + if( absWorldOffset.z > boundingOffsetA.z + boundingOffsetB.Dot(Float4(absRotationB.v[0].z, absRotationB.v[1].z, absRotationB.v[2].z, 0.0f)) ) { // t.z > hA.z + hB dot |{RB.v[0].z, RB.v[1].z, RB.v[2].z}| return false; } // s = RB.v[0].xyz - if( Abs(worldOffset.Dot(rotationB.v[0])) > boundingOffsetA.Dot(absRotationB.v[0].xyz) + boundingOffsetB.x ) + if( Abs(worldOffset.Dot(rotationB.v[0])) > boundingOffsetA.Dot(absRotationB.v[0]) + boundingOffsetB.x ) { // |t dot s| > hA dot |s| + hB dot |s * RB| -->> |t dot s| > hA dot |s| + hB dot |{1, 0, 0}| -->> |t dot s| > hA dot |s| + hB.x return false; } // s = RB.v[1].xyz - if( Abs(worldOffset.Dot(rotationB.v[1])) > boundingOffsetA.Dot(absRotationB.v[1].xyz) + boundingOffsetB.y ) + if( Abs(worldOffset.Dot(rotationB.v[1])) > boundingOffsetA.Dot(absRotationB.v[1]) + boundingOffsetB.y ) { // |t dot s| > hA dot |s| + hB.y return false; } // s = RB.v[2].xyz - if( Abs(worldOffset.Dot(rotationB.v[2])) > boundingOffsetA.Dot(absRotationB.v[2].xyz) + boundingOffsetB.z ) + if( Abs(worldOffset.Dot(rotationB.v[2])) > boundingOffsetA.Dot(absRotationB.v[2]) + boundingOffsetB.z ) { // |t dot s| > hA dot |s| + hB.z return false; } @@ -204,7 +204,7 @@ namespace Oyster { namespace Collision3D { namespace Utility return true; } - bool SeperatingAxisTest_AxisAlignedVsTransformedBox( const Float3 &boundingOffsetA, const Float3 &boundingOffsetB, const Float4x4 &rotationB, const Float4 &worldOffset, Float4 &worldPointOfContact ) + bool SeperatingAxisTest_AxisAlignedVsTransformedBox( const Float4 &boundingOffsetA, const Float4 &boundingOffsetB, const Float4x4 &rotationB, const Float4 &worldOffset, Float4 &worldPointOfContact ) { // by Dan Andersson /***************************************************************** @@ -229,10 +229,11 @@ namespace Oyster { namespace Collision3D { namespace Utility * = ( p1 + p2 + ... + p5 + p6 ) / 2 *****************************************************************/ - const Float4 &t = worldOffset; - Float4 s = Float4::standard_unit_x, - hA = Float4( boundingOffsetA, 0.0f ), - hB = Float4( boundingOffsetB, 0.0f ); + const Float4 &t = worldOffset, + &hA = boundingOffsetA, + &hB = boundingOffsetB; + Float4 s = Float4::standard_unit_x; + Float centerSeperation = t.Dot(s), eA = hA.Dot( Abs(s) ), edgeSeperation = eA + hB.Dot( Abs(s * rotationB) ); @@ -382,7 +383,7 @@ namespace Oyster { namespace Collision3D { namespace Utility void Compare( Float &connectDistance, Float &connectOffsetSquared, const Ray &ray, const Point &point ) { // by Dan Andersson - Float3 dP = point.center - ray.origin; + Float4 dP = point.center - ray.origin; connectDistance = dP.Dot( ray.direction ); connectDistance /= ray.direction.Dot( ray.direction ); @@ -393,7 +394,7 @@ namespace Oyster { namespace Collision3D { namespace Utility void Compare( Float &connectDistanceA, Float &connectDistanceB, Float &connectOffsetSquared, const Ray &rayA, const Ray &rayB ) { // by Dan Andersson - Float3 dP = rayB.origin - rayA.origin; + Float4 dP = rayB.origin - rayA.origin; connectDistanceA = rayA.direction.Dot( dP ); connectDistanceA /= rayA.direction.Dot( rayA.direction ); @@ -422,7 +423,7 @@ namespace Oyster { namespace Collision3D { namespace Utility return true; // Passed all tests, is in same position } - bool Intersect( const Point &pointA, const Point &pointB, ::Oyster::Math::Float3 &worldPointOfContact ) + bool Intersect( const Point &pointA, const Point &pointB, ::Oyster::Math::Float4 &worldPointOfContact ) { //! @todo TODO: implement Stub return false; @@ -443,6 +444,12 @@ namespace Oyster { namespace Collision3D { namespace Utility return false; } + bool Intersect( const Ray &ray, const Point &point, ::Oyster::Math::Float &connectDistance, ::Oyster::Math::Float4 &worldPointOfContact ) + { + //! @todo TODO: implement Stub + return false; + } + bool Intersect( const Ray &rayA, const Ray &rayB, Float &connectDistanceA, Float &connectDistanceB ) { // by Dan Andersson Float connectOffsetSquared; @@ -458,13 +465,7 @@ namespace Oyster { namespace Collision3D { namespace Utility return false; } - bool Intersect( const Ray &ray, const Point &point, ::Oyster::Math::Float &connectDistance, ::Oyster::Math::Float3 &worldPointOfContact ) - { - //! @todo TODO: implement Stub - return false; - } - - bool Intersect( const Ray &rayA, const Ray &rayB, ::Oyster::Math::Float &connectDistanceA, ::Oyster::Math::Float &connectDistanceB, ::Oyster::Math::Float3 &worldPointOfContact ) + bool Intersect( const Ray &rayA, const Ray &rayB, ::Oyster::Math::Float &connectDistanceA, ::Oyster::Math::Float &connectDistanceB, ::Oyster::Math::Float4 &worldPointOfContact ) { //! @todo TODO: implement Stub return false; @@ -478,9 +479,15 @@ namespace Oyster { namespace Collision3D { namespace Utility return true; } + bool Intersect( const Sphere &sphere, const Point &point, ::Oyster::Math::Float4 &worldPointOfContact ) + { + //! @todo TODO: implement Stub + return false; + } + bool Intersect( const Sphere &sphere, const Ray &ray, Float &connectDistance ) {// by Dan Andersson - Float3 dP = sphere.center - ray.origin; + Float4 dP = sphere.center - ray.origin; Float s = dP.Dot( ray.direction ), dSquared = dP.Dot( dP ), rSquared = sphere.radius * sphere.radius; @@ -498,9 +505,15 @@ namespace Oyster { namespace Collision3D { namespace Utility return true; } + bool Intersect( const Sphere &sphere, const Ray &ray, ::Oyster::Math::Float &connectDistance, ::Oyster::Math::Float4 &worldPointOfContact ) + { + //! @todo TODO: implement Stub + return false; + } + bool Intersect( const Sphere &sphereA, const Sphere &sphereB ) { // by Fredrick Johansson - Float3 C = sphereA.center; + Float4 C = sphereA.center; C -= sphereB.center; Float r = (sphereA.radius + sphereB.radius); @@ -511,22 +524,10 @@ namespace Oyster { namespace Collision3D { namespace Utility return false; } - - bool Intersect( const Sphere &sphere, const Point &point, ::Oyster::Math::Float3 &worldPointOfContact ) - { - //! @todo TODO: implement Stub - return false; - } - bool Intersect( const Sphere &sphere, const Ray &ray, ::Oyster::Math::Float &connectDistance, ::Oyster::Math::Float3 &worldPointOfContact ) - { - //! @todo TODO: implement Stub - return false; - } - - bool Intersect( const Sphere &sphereA, const Sphere &sphereB, ::Oyster::Math::Float3 &worldPointOfContact ) + bool Intersect( const Sphere &sphereA, const Sphere &sphereB, ::Oyster::Math::Float4 &worldPointOfContact ) { // by Robin Engman - Float3 C = sphereA.center; + Float4 C = sphereA.center; C -= sphereB.center; Float r = sphereA.radius + sphereB.radius; @@ -552,6 +553,12 @@ namespace Oyster { namespace Collision3D { namespace Utility return Private::EqualsZero(connectOffset); } + bool Intersect( const Plane &plane, const Point &point, Float4 &worldPointOfContact ) + { + //! @todo TODO: implement Stub + return false; + } + bool Intersect( const Plane &plane, const Ray &ray, Float &connectDistance ) { // by Dan Andersson Float c = plane.normal.Dot(ray.direction); @@ -572,6 +579,12 @@ namespace Oyster { namespace Collision3D { namespace Utility return false; } + bool Intersect( const Plane &plane, const Ray &ray, Float &connectDistance, Float4 &worldPointOfContact ) + { + //! @todo TODO: implement Stub + return false; + } + bool Intersect( const Plane &plane, const Sphere &sphere ) { // by Dan Andersson Float connectOffset; @@ -579,6 +592,12 @@ namespace Oyster { namespace Collision3D { namespace Utility return (connectOffset <= sphere.radius); } + bool Intersect( const Plane &plane, const Sphere &sphere, Float4 &worldPointOfContact ) + { + //! @todo TODO: implement Stub + return false; + } + bool Intersect( const Plane &planeA, const Plane &planeB ) { // by Dan Andersson if( planeA.normal == planeB.normal ) // they are parallell @@ -588,25 +607,7 @@ namespace Oyster { namespace Collision3D { namespace Utility return true; // none parallell planes ALWAYS intersects somewhere } - bool Intersect( const Plane &plane, const Point &point, const ::Oyster::Math::Float3 &worldPointOfContact ) - { - //! @todo TODO: implement Stub - return false; - } - - bool Intersect( const Plane &plane, const Ray &ray, ::Oyster::Math::Float &connectDistance, const ::Oyster::Math::Float3 &worldPointOfContact ) - { - //! @todo TODO: implement Stub - return false; - } - - bool Intersect( const Plane &plane, const Sphere &sphere, const ::Oyster::Math::Float3 &worldPointOfContact ) - { - //! @todo TODO: implement Stub - return false; - } - - bool Intersect( const Plane &planeA, const Plane &planeB, const ::Oyster::Math::Float3 &worldPointOfContact ) + bool Intersect( const Plane &planeA, const Plane &planeB, Float4 &worldPointOfContact ) { //! @todo TODO: implement Stub return false; @@ -623,7 +624,7 @@ namespace Oyster { namespace Collision3D { namespace Utility return true; } - bool Intersect( const BoxAxisAligned &box, const Point &point, Float3 &worldPointOfContact ) + bool Intersect( const BoxAxisAligned &box, const Point &point, Float4 &worldPointOfContact ) { // by Dan Andersson if( Intersect(box, point) ) { @@ -638,18 +639,18 @@ namespace Oyster { namespace Collision3D { namespace Utility Float tMin = ::std::numeric_limits::max(), tMax = -tMin; // initiating to extremevalues - Float3 boundingOffset = ((box.maxVertex - box.minVertex) * 0.5f), + Float4 boundingOffset = ((box.maxVertex - box.minVertex) * 0.5f), dP = ((box.maxVertex + box.minVertex) * 0.5f) - ray.origin; - if( Private::BoxVsRayPerSlabCheck( Float3::standard_unit_x, boundingOffset.x, dP, ray.direction, tMin, tMax ) ) { connectDistance = 0.0f; return false; } - if( Private::BoxVsRayPerSlabCheck( Float3::standard_unit_y, boundingOffset.y, dP, ray.direction, tMin, tMax ) ) { connectDistance = 0.0f; return false; } - if( Private::BoxVsRayPerSlabCheck( Float3::standard_unit_z, boundingOffset.z, dP, ray.direction, tMin, tMax ) ) { connectDistance = 0.0f; return false; } + if( Private::BoxVsRayPerSlabCheck( Float4::standard_unit_x, boundingOffset.x, dP, ray.direction, tMin, tMax ) ) { connectDistance = 0.0f; return false; } + if( Private::BoxVsRayPerSlabCheck( Float4::standard_unit_y, boundingOffset.y, dP, ray.direction, tMin, tMax ) ) { connectDistance = 0.0f; return false; } + if( Private::BoxVsRayPerSlabCheck( Float4::standard_unit_z, boundingOffset.z, dP, ray.direction, tMin, tMax ) ) { connectDistance = 0.0f; return false; } if( tMin > 0.0f ) connectDistance = tMin; else connectDistance = tMax; return true; } - bool Intersect( const BoxAxisAligned &box, const Ray &ray, Float &connectDistance, Float3 &worldPointOfContact ) + bool Intersect( const BoxAxisAligned &box, const Ray &ray, Float &connectDistance, Float4 &worldPointOfContact ) { // by Dan Andersson if( Intersect(box, ray, connectDistance) ) { @@ -661,14 +662,14 @@ namespace Oyster { namespace Collision3D { namespace Utility bool Intersect( const BoxAxisAligned &box, const Sphere &sphere ) { // by Dan Andersson - Float4 e = Max( Float4(box.minVertex - sphere.center, 0.0f), Float4::null ); - e += Max( Float4(sphere.center - box.maxVertex, 0.0f), Float4::null ); + Float4 e = Max( box.minVertex - sphere.center, Float4::null ); + e += Max( sphere.center - box.maxVertex, Float4::null ); if( e.Dot(e) > (sphere.radius * sphere.radius) ) return false; return true; } - bool Intersect( const BoxAxisAligned &box, const Sphere &sphere, Float3 &worldPointOfContact ) + bool Intersect( const BoxAxisAligned &box, const Sphere &sphere, Float4 &worldPointOfContact ) { // by Robin Engman if(Intersect(box, sphere)) @@ -692,7 +693,7 @@ namespace Oyster { namespace Collision3D { namespace Utility return true; } - bool Intersect( const BoxAxisAligned &box, const Plane &plane, Float3 &worldPointOfContact ) + bool Intersect( const BoxAxisAligned &box, const Plane &plane, Float4 &worldPointOfContact ) { //! @todo TODO: implement stub return Intersect( box, plane ); @@ -714,7 +715,7 @@ namespace Oyster { namespace Collision3D { namespace Utility bool Intersect( const Box &box, const Point &point ) { // by Dan Andersson - Float3 dPos = point.center - box.center; + Float4 dPos = point.center - box.center; Float coordinate = dPos.Dot( box.xAxis ); if( coordinate > box.boundingOffset.x ) return false; @@ -731,7 +732,7 @@ namespace Oyster { namespace Collision3D { namespace Utility return true; } - bool Intersect( const Box &box, const Point &point, Float3 &worldPointOfContact ) + bool Intersect( const Box &box, const Point &point, Float4 &worldPointOfContact ) { // by Dan Andersson if( Intersect(box, point) ) { @@ -746,7 +747,7 @@ namespace Oyster { namespace Collision3D { namespace Utility Float tMin = ::std::numeric_limits::max(), tMax = -tMin; // initiating to extremevalues - Float3 dP = box.center - ray.origin; + Float4 dP = box.center - ray.origin; if( Private::BoxVsRayPerSlabCheck( box.xAxis, box.boundingOffset.x, dP, ray.direction, tMin, tMax ) ) { connectDistance = 0.0f; return false; } if( Private::BoxVsRayPerSlabCheck( box.yAxis, box.boundingOffset.y, dP, ray.direction, tMin, tMax ) ) { connectDistance = 0.0f; return false; } if( Private::BoxVsRayPerSlabCheck( box.zAxis, box.boundingOffset.z, dP, ray.direction, tMin, tMax ) ) { connectDistance = 0.0f; return false; } @@ -756,7 +757,7 @@ namespace Oyster { namespace Collision3D { namespace Utility return true; } - bool Intersect( const Box &box, const Ray &ray, Float &connectDistance, Float3 &worldPointOfContact ) + bool Intersect( const Box &box, const Ray &ray, Float &connectDistance, Float4 &worldPointOfContact ) { // by Dan Andersson if( Intersect(box, ray, connectDistance) ) { @@ -769,16 +770,16 @@ namespace Oyster { namespace Collision3D { namespace Utility bool Intersect( const Box &box, const Sphere &sphere ) { // by Dan Andersson // center: sphere's center in the box's view space - Float4 center = TransformVector( InverseRotationMatrix(box.rotation), Float4(sphere.center - box.center, 0.0f) ); + Float4 center = TransformVector( InverseRotationMatrix(box.rotation), sphere.center - box.center ); - Float4 e = Max( Float4(-box.boundingOffset, 0.0f) - center, Float4::null ); - e += Max( center - Float4(box.boundingOffset, 0.0f), Float4::null ); + Float4 e = Max( -box.boundingOffset - center, Float4::null ); + e += Max( center - box.boundingOffset, Float4::null ); if( e.Dot(e) > (sphere.radius * sphere.radius) ) return false; return true; } - bool Intersect( const Box &box, const Sphere &sphere, Float3 &worldPointOfContact ) + bool Intersect( const Box &box, const Sphere &sphere, Float4 &worldPointOfContact ) { // by Robin Engman if( Intersect(box, sphere) ) { @@ -801,7 +802,7 @@ namespace Oyster { namespace Collision3D { namespace Utility return true; } - bool Intersect( const Box &box, const Plane &plane, Float3 &worldPointOfContact ) + bool Intersect( const Box &box, const Plane &plane, Float4 &worldPointOfContact ) { //! @todo TODO: implement stub return Intersect( box, plane ); @@ -809,18 +810,18 @@ namespace Oyster { namespace Collision3D { namespace Utility bool Intersect( const Box &boxA, const BoxAxisAligned &boxB ) { // by Dan Andersson - Float4 alignedOffsetBoundaries = (Float4(boxB.maxVertex, 1.0f) - Float4(boxB.minVertex, 1.0f)) * 0.5f, - offset = Float4(boxA.center, 1.0f) - Average( Float4(boxB.maxVertex, 1.0f), Float4(boxB.minVertex, 1.0f) ); - return Private::SeperatingAxisTest_AxisAlignedVsTransformedBox( alignedOffsetBoundaries.xyz, boxA.boundingOffset, boxA.rotation, offset ); + Float4 alignedOffsetBoundaries = (boxB.maxVertex - boxB.minVertex) * 0.5f, + offset = boxA.center- Average( boxB.maxVertex, boxB.minVertex ); + return Private::SeperatingAxisTest_AxisAlignedVsTransformedBox( alignedOffsetBoundaries, boxA.boundingOffset, boxA.rotation, offset ); } - bool Intersect( const Box &boxA, const BoxAxisAligned &boxB, ::Oyster::Math::Float3 &worldPointOfContact ) + bool Intersect( const Box &boxA, const BoxAxisAligned &boxB, ::Oyster::Math::Float4 &worldPointOfContact ) { // by Dan Andersson - Float4 alignedOffsetBoundaries = (Float4(boxB.maxVertex, 1.0f) - Float4(boxB.minVertex, 1.0f)) * 0.5f, - offset = Float4(boxA.center, 1.0f) - Average( Float4(boxB.maxVertex, 1.0f), Float4(boxB.minVertex, 1.0f) ); + Float4 alignedOffsetBoundaries = (boxB.maxVertex - boxB.minVertex) * 0.5f, + offset = boxA.center - Average( boxB.maxVertex, boxB.minVertex ); Float4 pointOfContact; - if( Private::SeperatingAxisTest_AxisAlignedVsTransformedBox( alignedOffsetBoundaries.xyz, boxA.boundingOffset, boxA.rotation, offset, pointOfContact ) ) + if( Private::SeperatingAxisTest_AxisAlignedVsTransformedBox( alignedOffsetBoundaries, boxA.boundingOffset, boxA.rotation, offset, pointOfContact ) ) { worldPointOfContact = pointOfContact.xyz; return true; @@ -836,7 +837,7 @@ namespace Oyster { namespace Collision3D { namespace Utility return Private::SeperatingAxisTest_AxisAlignedVsTransformedBox( boxA.boundingOffset, boxB.boundingOffset, rotationB, posB ); } - bool Intersect( const Box &boxA, const Box &boxB, Float3 &worldPointOfContact ) + bool Intersect( const Box &boxA, const Box &boxB, Float4 &worldPointOfContact ) { Float4x4 rotationB = TransformMatrix( InverseRotationMatrix(boxA.rotation), boxB.rotation ); Float4 posB = boxB.center - boxA.center; diff --git a/Code/OysterPhysics3D/OysterCollision3D.h b/Code/OysterPhysics3D/OysterCollision3D.h index 603dfc7c..20a55a18 100644 --- a/Code/OysterPhysics3D/OysterCollision3D.h +++ b/Code/OysterPhysics3D/OysterCollision3D.h @@ -25,28 +25,28 @@ namespace Oyster { namespace Collision3D { namespace Utility void Compare( ::Oyster::Math::Float &connectOffset, const Plane &plane, const Point &point ); bool Intersect( const Point &pointA, const Point &pointB ); - bool Intersect( const Point &pointA, const Point &pointB, ::Oyster::Math::Float3 &worldPointOfContact ); + bool Intersect( const Point &pointA, const Point &pointB, ::Oyster::Math::Float4 &worldPointOfContact ); bool Intersect( const Ray &ray, const Point &point, ::Oyster::Math::Float &connectDistance ); + bool Intersect( const Ray &ray, const Point &point, ::Oyster::Math::Float &connectDistance, ::Oyster::Math::Float4 &worldPointOfContact ); bool Intersect( const Ray &rayA, const Ray &rayB, ::Oyster::Math::Float &connectDistanceA, ::Oyster::Math::Float &connectDistanceB ); - bool Intersect( const Ray &ray, const Point &point, ::Oyster::Math::Float &connectDistance, ::Oyster::Math::Float3 &worldPointOfContact ); - bool Intersect( const Ray &rayA, const Ray &rayB, ::Oyster::Math::Float &connectDistanceA, ::Oyster::Math::Float &connectDistanceB, ::Oyster::Math::Float3 &worldPointOfContact ); + bool Intersect( const Ray &rayA, const Ray &rayB, ::Oyster::Math::Float &connectDistanceA, ::Oyster::Math::Float &connectDistanceB, ::Oyster::Math::Float4 &worldPointOfContact ); bool Intersect( const Sphere &sphere, const Point &point ); + bool Intersect( const Sphere &sphere, const Point &point, ::Oyster::Math::Float4 &worldPointOfContact ); bool Intersect( const Sphere &sphere, const Ray &ray, ::Oyster::Math::Float &connectDistance ); + bool Intersect( const Sphere &sphere, const Ray &ray, ::Oyster::Math::Float &connectDistance, ::Oyster::Math::Float4 &worldPointOfContact ); bool Intersect( const Sphere &sphereA, const Sphere &sphereB ); - bool Intersect( const Sphere &sphere, const Point &point, ::Oyster::Math::Float3 &worldPointOfContact ); - bool Intersect( const Sphere &sphere, const Ray &ray, ::Oyster::Math::Float &connectDistance, ::Oyster::Math::Float3 &worldPointOfContact ); - bool Intersect( const Sphere &sphereA, const Sphere &sphereB, ::Oyster::Math::Float3 &worldPointOfContact ); + bool Intersect( const Sphere &sphereA, const Sphere &sphereB, ::Oyster::Math::Float4 &worldPointOfContact ); bool Intersect( const Plane &plane, const Point &point ); + bool Intersect( const Plane &plane, const Point &point, ::Oyster::Math::Float4 &worldPointOfContact ); bool Intersect( const Plane &plane, const Ray &ray, ::Oyster::Math::Float &connectDistance ); + bool Intersect( const Plane &plane, const Ray &ray, ::Oyster::Math::Float &connectDistance, ::Oyster::Math::Float4 &worldPointOfContact ); bool Intersect( const Plane &plane, const Sphere &sphere ); + bool Intersect( const Plane &plane, const Sphere &sphere, ::Oyster::Math::Float4 &worldPointOfContact ); bool Intersect( const Plane &planeA, const Plane &planeB ); - bool Intersect( const Plane &plane, const Point &point, ::Oyster::Math::Float3 &worldPointOfContact ); - bool Intersect( const Plane &plane, const Ray &ray, ::Oyster::Math::Float &connectDistance, ::Oyster::Math::Float3 &worldPointOfContact ); - bool Intersect( const Plane &plane, const Sphere &sphere, ::Oyster::Math::Float3 &worldPointOfContact ); - bool Intersect( const Plane &planeA, const Plane &planeB, ::Oyster::Math::Float3 &worldPointOfContact ); + bool Intersect( const Plane &planeA, const Plane &planeB, ::Oyster::Math::Float4 &worldPointOfContact ); // bool Intersect( const Triangle &triangle, const Point &point, ? ); // bool Intersect( const Triangle &triangle, const Ray &ray, ? ); @@ -55,29 +55,29 @@ namespace Oyster { namespace Collision3D { namespace Utility // bool Intersect( const Triangle &triangleA, const Triangle &triangleB, ? ); bool Intersect( const BoxAxisAligned &box, const Point &point ); - bool Intersect( const BoxAxisAligned &box, const Point &point, ::Oyster::Math::Float3 &worldPointOfContact ); + bool Intersect( const BoxAxisAligned &box, const Point &point, ::Oyster::Math::Float4 &worldPointOfContact ); bool Intersect( const BoxAxisAligned &box, const Ray &ray, ::Oyster::Math::Float &connectDistance ); - bool Intersect( const BoxAxisAligned &box, const Ray &ray, ::Oyster::Math::Float &connectDistance, ::Oyster::Math::Float3 &worldPointOfContact ); + bool Intersect( const BoxAxisAligned &box, const Ray &ray, ::Oyster::Math::Float &connectDistance, ::Oyster::Math::Float4 &worldPointOfContact ); bool Intersect( const BoxAxisAligned &box, const Sphere &sphere ); - bool Intersect( const BoxAxisAligned &box, const Sphere &sphere, ::Oyster::Math::Float3 &worldPointOfContact ); + bool Intersect( const BoxAxisAligned &box, const Sphere &sphere, ::Oyster::Math::Float4 &worldPointOfContact ); bool Intersect( const BoxAxisAligned &box, const Plane &plane ); - bool Intersect( const BoxAxisAligned &box, const Plane &plane, ::Oyster::Math::Float3 &worldPointOfContact ); + bool Intersect( const BoxAxisAligned &box, const Plane &plane, ::Oyster::Math::Float4 &worldPointOfContact ); // bool Intersect( const BoxAxisAligned &box, const Triangle &triangle ); bool Intersect( const BoxAxisAligned &boxA, const BoxAxisAligned &boxB ); bool Intersect( const Box &box, const Point &point ); - bool Intersect( const Box &box, const Point &point, ::Oyster::Math::Float3 &worldPointOfContact ); + bool Intersect( const Box &box, const Point &point, ::Oyster::Math::Float4 &worldPointOfContact ); bool Intersect( const Box &box, const Ray &ray, ::Oyster::Math::Float &connectDistance ); - bool Intersect( const Box &box, const Ray &ray, ::Oyster::Math::Float &connectDistance, ::Oyster::Math::Float3 &worldPointOfContact ); + bool Intersect( const Box &box, const Ray &ray, ::Oyster::Math::Float &connectDistance, ::Oyster::Math::Float4 &worldPointOfContact ); bool Intersect( const Box &box, const Sphere &sphere ); - bool Intersect( const Box &box, const Sphere &sphere, ::Oyster::Math::Float3 &worldPointOfContact ); + bool Intersect( const Box &box, const Sphere &sphere, ::Oyster::Math::Float4 &worldPointOfContact ); bool Intersect( const Box &box, const Plane &plane ); - bool Intersect( const Box &box, const Plane &plane, ::Oyster::Math::Float3 &worldPointOfContact ); + bool Intersect( const Box &box, const Plane &plane, ::Oyster::Math::Float4 &worldPointOfContact ); // bool Intersect( const Box &box, const Triangle &triangle, ? ); bool Intersect( const Box &boxA, const BoxAxisAligned &boxB ); - bool Intersect( const Box &boxA, const BoxAxisAligned &boxB, ::Oyster::Math::Float3 &worldPointOfContact ); + bool Intersect( const Box &boxA, const BoxAxisAligned &boxB, ::Oyster::Math::Float4 &worldPointOfContact ); bool Intersect( const Box &boxA, const Box &boxB ); - bool Intersect( const Box &boxA, const Box &boxB, ::Oyster::Math::Float3 &worldPointOfContact ); + bool Intersect( const Box &boxA, const Box &boxB, ::Oyster::Math::Float4 &worldPointOfContact ); bool Intersect( const Frustrum &frustrum, const Point &point ); bool Intersect( const Frustrum &frustrum, const Ray &ray, ::Oyster::Math::Float &connectDistance ); diff --git a/Code/OysterPhysics3D/Particle.cpp b/Code/OysterPhysics3D/Particle.cpp index 830e13b5..c84b1e31 100644 --- a/Code/OysterPhysics3D/Particle.cpp +++ b/Code/OysterPhysics3D/Particle.cpp @@ -34,7 +34,7 @@ Particle & Particle::operator = ( const Particle &particle ) void Particle::Update_LeapFrog( Float deltaTime ) { // Euler leap frog update when Runga Kutta is not needed this->impulseForceSum *= (deltaTime / this->mass); // is now deltaLinearVelocity ( dt * a = dt * F / m ) - this->sphere.center += deltaTime * ::Utility::Value::AverageWithDelta( Formula::LinearVelocity(this->mass, this->linearMomentum), this->impulseForceSum ); + this->sphere.center.xyz += deltaTime * ::Utility::Value::AverageWithDelta( Formula::LinearVelocity(this->mass, this->linearMomentum), this->impulseForceSum ); this->linearMomentum += Formula::LinearMomentum( this->mass, this->impulseForceSum ); this->impulseForceSum = Float3::null; @@ -66,12 +66,12 @@ void Particle::ApplyLinearImpulseAcceleration( const Float3 &a ) Float3 & Particle::AccessCenter() { - return this->sphere.center; + return this->sphere.center.xyz; } const Float3 & Particle::AccessCenter() const { - return this->sphere.center; + return this->sphere.center.xyz; } Float & Particle::AccessRadius() @@ -91,7 +91,7 @@ const Float & Particle::GetMass() const const Float3 & Particle::GetCenter() const { - return this->sphere.center; + return this->sphere.center.xyz; } const Float & Particle::GetRadius() const diff --git a/Code/OysterPhysics3D/Plane.cpp b/Code/OysterPhysics3D/Plane.cpp index 863b0c5a..59ffbc47 100644 --- a/Code/OysterPhysics3D/Plane.cpp +++ b/Code/OysterPhysics3D/Plane.cpp @@ -10,11 +10,11 @@ using namespace ::Oyster::Math; Plane::Plane( ) : ICollideable(Type_plane) { - this->normal = Float3::standard_unit_z; + this->normal = Float4::standard_unit_z; this->phasing = 0.0f; } -Plane::Plane( const Float3 &n, const Float &p ) : ICollideable(Type_plane) +Plane::Plane( const Float4 &n, const Float &p ) : ICollideable(Type_plane) { this->normal = n; this->phasing = p; @@ -52,7 +52,7 @@ bool Plane::Intersects( const ICollideable &target ) const } } -bool Plane::Intersects( const ICollideable &target, Float3 &worldPointOfContact ) const +bool Plane::Intersects( const ICollideable &target, Float4 &worldPointOfContact ) const { switch( target.type ) { diff --git a/Code/OysterPhysics3D/Plane.h b/Code/OysterPhysics3D/Plane.h index 35b68261..f148ed8e 100644 --- a/Code/OysterPhysics3D/Plane.h +++ b/Code/OysterPhysics3D/Plane.h @@ -16,20 +16,20 @@ namespace Oyster { namespace Collision3D public: union { - struct{ ::Oyster::Math::Float3 normal; ::Oyster::Math::Float phasing; }; - ::Oyster::Math::Float element[4]; - char byte[sizeof(::Oyster::Math::Float3) + sizeof(::Oyster::Math::Float)]; + struct{ ::Oyster::Math::Float4 normal; ::Oyster::Math::Float phasing; }; + ::Oyster::Math::Float element[5]; + char byte[sizeof(::Oyster::Math::Float4) + sizeof(::Oyster::Math::Float)]; }; Plane( ); - Plane( const ::Oyster::Math::Float3 &normal, const ::Oyster::Math::Float &phasing ); + Plane( const ::Oyster::Math::Float4 &normal, const ::Oyster::Math::Float &phasing ); virtual ~Plane( ); Plane & operator = ( const Plane &plane ); virtual ::Utility::DynamicMemory::UniquePointer Clone( ) const; bool Intersects( const ICollideable &target ) const; - bool Intersects( const ICollideable &target, ::Oyster::Math::Float3 &worldPointOfContact ) const; + bool Intersects( const ICollideable &target, ::Oyster::Math::Float4 &worldPointOfContact ) const; bool Contains( const ICollideable &target ) const; }; } } diff --git a/Code/OysterPhysics3D/Point.cpp b/Code/OysterPhysics3D/Point.cpp index 7a40c7cc..788ab32d 100644 --- a/Code/OysterPhysics3D/Point.cpp +++ b/Code/OysterPhysics3D/Point.cpp @@ -10,10 +10,15 @@ using namespace ::Oyster::Math3D; Point::Point( ) : ICollideable(Type_point) { - this->center = Float3::null; + this->center = Float4::standard_unit_w; } Point::Point( const Float3 &pos ) : ICollideable(Type_point) +{ + this->center = Float4( pos, 1.0f ); +} + +Point::Point( const Float4 &pos ) : ICollideable(Type_point) { this->center = pos; } @@ -48,7 +53,7 @@ bool Point::Intersects( const ICollideable &target ) const } } -bool Point::Intersects( const ICollideable &target, Float3 &worldPointOfContact ) const +bool Point::Intersects( const ICollideable &target, Float4 &worldPointOfContact ) const { switch( target.type ) { diff --git a/Code/OysterPhysics3D/Point.h b/Code/OysterPhysics3D/Point.h index ca6f4082..60486373 100644 --- a/Code/OysterPhysics3D/Point.h +++ b/Code/OysterPhysics3D/Point.h @@ -16,19 +16,20 @@ namespace Oyster { namespace Collision3D public: union { - struct{ ::Oyster::Math::Float3 center; }; - char byte[sizeof(::Oyster::Math::Float3)]; + struct{ ::Oyster::Math::Float4 center; }; + char byte[sizeof(::Oyster::Math::Float4)]; }; Point( ); Point( const ::Oyster::Math::Float3 &position ); + Point( const ::Oyster::Math::Float4 &position ); virtual ~Point( ); Point & operator = ( const Point &point ); virtual ::Utility::DynamicMemory::UniquePointer Clone( ) const; bool Intersects( const ICollideable &target ) const; - bool Intersects( const ICollideable &target, ::Oyster::Math::Float3 &worldPointOfContact ) const; + bool Intersects( const ICollideable &target, ::Oyster::Math::Float4 &worldPointOfContact ) const; bool Contains( const ICollideable &target ) const; }; } } diff --git a/Code/OysterPhysics3D/Ray.cpp b/Code/OysterPhysics3D/Ray.cpp index 6d65fe7f..b68ee68e 100644 --- a/Code/OysterPhysics3D/Ray.cpp +++ b/Code/OysterPhysics3D/Ray.cpp @@ -10,15 +10,15 @@ using namespace ::Oyster::Math3D; Ray::Ray( ) : ICollideable(Type_ray) { - this->origin = Float3::null; - this->direction = Float3::standard_unit_z; + this->origin = Float4::standard_unit_w; + this->direction = Float4::standard_unit_z; this->collisionDistance = 0.0f; } -Ray::Ray( const Float3 &o, const ::Oyster::Math::Float3 &d ) : ICollideable(Type_ray) +Ray::Ray( const Float3 &o, const Float3 &d ) : ICollideable(Type_ray) { - this->origin = o; - this->direction = d; + this->origin = Float4( o, 1.0f ); + this->direction = Float4( d, 0.0f ); this->collisionDistance = 0.0f; } @@ -47,15 +47,15 @@ bool Ray::Intersects( const ICollideable &target ) const case Type_ray: return Utility::Intersect( *this, (const Ray&)target, this->collisionDistance, ((const Ray&)target).collisionDistance ); case Type_sphere: return Utility::Intersect( (const Sphere&)target, *this, this->collisionDistance ); case Type_plane: return Utility::Intersect( (const Plane&)target, *this, this->collisionDistance ); - // case Type_triangle: return false; // TODO: + //case Type_triangle: return false; // TODO: case Type_box_axis_aligned: return Utility::Intersect( (const BoxAxisAligned&)target, *this, this->collisionDistance ); case Type_box: return Utility::Intersect( (const Box&)target, *this, this->collisionDistance ); - case Type_frustrum: return false; // TODO: + //case Type_frustrum: return false; // TODO: default: return false; } } -bool Ray::Intersects( const ICollideable &target, Float3 &worldPointOfContact ) const +bool Ray::Intersects( const ICollideable &target, Float4 &worldPointOfContact ) const { switch( target.type ) { diff --git a/Code/OysterPhysics3D/Ray.h b/Code/OysterPhysics3D/Ray.h index bae600e4..79be0c21 100644 --- a/Code/OysterPhysics3D/Ray.h +++ b/Code/OysterPhysics3D/Ray.h @@ -21,10 +21,10 @@ namespace Oyster { namespace Collision3D { struct { - ::Oyster::Math::Float3 origin, + ::Oyster::Math::Float4 origin, direction; /// Assumed to be normalized }; - char byte[2*sizeof(::Oyster::Math::Float3)]; + char byte[2*sizeof(::Oyster::Math::Float4)]; }; mutable float collisionDistance; @@ -36,7 +36,7 @@ namespace Oyster { namespace Collision3D virtual ::Utility::DynamicMemory::UniquePointer Clone( ) const; bool Intersects( const ICollideable &target ) const; - bool Intersects( const ICollideable &target, ::Oyster::Math::Float3 &worldPointOfContact ) const; + bool Intersects( const ICollideable &target, ::Oyster::Math::Float4 &worldPointOfContact ) const; bool Contains( const ICollideable &target ) const; }; } } diff --git a/Code/OysterPhysics3D/RigidBody.cpp b/Code/OysterPhysics3D/RigidBody.cpp index 182a5a17..eed27b52 100644 --- a/Code/OysterPhysics3D/RigidBody.cpp +++ b/Code/OysterPhysics3D/RigidBody.cpp @@ -119,12 +119,12 @@ void RigidBody::Update_LeapFrog( Float deltaTime ) rotationAxis /= deltaRadian; // using rotationAxis, deltaRadian and deltaPos to create a matrix to update the box - this->box.center += deltaPos; + this->box.center.xyz += deltaPos; TransformMatrix( RotationMatrix(deltaRadian, rotationAxis), this->box.rotation, this->box.rotation ); } else { // no rotation, only use deltaPos to translate the RigidBody - this->box.center += deltaPos; + this->box.center.xyz += deltaPos; } // update momentums and clear impulseForceSum and impulseTorqueSum @@ -141,7 +141,7 @@ void RigidBody::ApplyImpulseForce( const Float3 &worldF ) void RigidBody::ApplyImpulseForceAt( const Float3 &worldF, const Float3 &worldPos ) { // by Dan Andersson - Float3 worldOffset = worldPos - this->box.center; + Float3 worldOffset = worldPos - this->box.center.xyz; if( worldOffset != Float3::null ) { this->impulseForceSum += VectorProjection( worldF, worldOffset ); @@ -160,7 +160,7 @@ void RigidBody::ApplyLinearImpulseAcceleration( const Float3 &worldA ) void RigidBody::ApplyLinearImpulseAccelerationAt( const Float3 &worldA, const Float3 &worldPos ) { // by Dan Andersson - Float3 worldOffset = worldPos - this->box.center; + Float3 worldOffset = worldPos - this->box.center.xyz; if( worldOffset != Float3::null ) { this->impulseForceSum += Formula::ImpulseForce( this->mass, VectorProjection(worldA, worldOffset) ); @@ -188,22 +188,22 @@ void RigidBody::ApplyAngularImpulseAcceleration( const Float3 &worldA ) Float3 & RigidBody::AccessBoundingReach() { // by Dan Andersson - return this->box.boundingOffset; + return this->box.boundingOffset.xyz; } const Float3 & RigidBody::AccessBoundingReach() const { // by Dan Andersson - return this->box.boundingOffset; + return this->box.boundingOffset.xyz; } Float3 & RigidBody::AccessCenter() { // by Dan Andersson - return this->box.center; + return this->box.center.xyz; } const Float3 & RigidBody::AccessCenter() const { // by Dan Andersson - return this->box.center; + return this->box.center.xyz; } const Float4x4 & RigidBody::GetMomentOfInertia() const @@ -218,7 +218,7 @@ const Float & RigidBody::GetMass() const const Float4x4 RigidBody::GetOrientation() const { // by Dan Andersson - return OrientationMatrix( this->box.rotation, this->box.center ); + return OrientationMatrix( this->box.rotation, this->box.center.xyz ); } Float4x4 RigidBody::GetView() const @@ -228,17 +228,17 @@ Float4x4 RigidBody::GetView() const const Float3 & RigidBody::GetBoundingReach() const { // by Dan Andersson - return this->box.boundingOffset; + return this->box.boundingOffset.xyz; } Float3 RigidBody::GetSize() const { // by Dan Andersson - return 2.0f * this->box.boundingOffset; + return 2.0f * this->box.boundingOffset.xyz; } const Float3 & RigidBody::GetCenter() const { // by Dan Andersson - return this->box.center; + return this->box.center.xyz; } const Float3 & RigidBody::GetImpulsTorque() const @@ -283,7 +283,7 @@ Float3 RigidBody::GetLinearVelocity() const void RigidBody::GetMomentumAt( const Float3 &worldPos, const Float3 &surfaceNormal, Float3 &normalMomentum, Float3 &tangentialMomentum ) const { // by Dan Andersson - Float3 worldOffset = worldPos - this->box.center; + Float3 worldOffset = worldPos - this->box.center.xyz; Float3 momentum = Formula::TangentialLinearMomentum( this->angularMomentum, worldOffset ); momentum += this->linearMomentum; @@ -391,21 +391,21 @@ void RigidBody::SetLinearVelocity( const Float3 &worldV ) void RigidBody::SetImpulseForceAt( const Float3 &worldForce, const Float3 &worldPos ) { // by Dan Andersson - Float3 worldOffset = worldPos - this->box.center; + Float3 worldOffset = worldPos - this->box.center.xyz; this->impulseForceSum = VectorProjection( worldForce, worldOffset ); this->impulseTorqueSum = Formula::ImpulseTorque( worldForce, worldOffset ); } void RigidBody::SetLinearMomentumAt( const Float3 &worldG, const Float3 &worldPos ) { // by Dan Andersson - Float3 worldOffset = worldPos - this->box.center; + Float3 worldOffset = worldPos - this->box.center.xyz; this->linearMomentum = VectorProjection( worldG, worldOffset ); this->angularMomentum = Formula::AngularMomentum( worldG, worldOffset ); } void RigidBody::SetImpulseAccelerationAt( const Float3 &worldA, const Float3 &worldPos ) { // by Dan Andersson - Float3 worldOffset = worldPos - this->box.center; + Float3 worldOffset = worldPos - this->box.center.xyz; this->impulseForceSum = Formula::ImpulseForce( this->mass, VectorProjection(worldA, worldOffset) ); this->impulseTorqueSum = Formula::ImpulseTorque( this->box.rotation * this->momentOfInertiaTensor, Formula::AngularImpulseAcceleration(worldA, worldOffset) ); @@ -413,7 +413,7 @@ void RigidBody::SetImpulseAccelerationAt( const Float3 &worldA, const Float3 &wo void RigidBody::SetLinearVelocityAt( const Float3 &worldV, const Float3 &worldPos ) { // by Dan Andersson - Float3 worldOffset = worldPos - this->box.center; + Float3 worldOffset = worldPos - this->box.center.xyz; this->linearMomentum = Formula::LinearMomentum( this->mass, VectorProjection(worldV, worldOffset) ); this->angularMomentum = Formula::AngularMomentum( this->box.rotation * this->momentOfInertiaTensor, Formula::AngularVelocity(worldV, worldOffset) ); diff --git a/Code/OysterPhysics3D/Sphere.cpp b/Code/OysterPhysics3D/Sphere.cpp index 8c786f54..c402b2ef 100644 --- a/Code/OysterPhysics3D/Sphere.cpp +++ b/Code/OysterPhysics3D/Sphere.cpp @@ -6,14 +6,20 @@ using namespace ::Oyster::Math; Sphere::Sphere( ) : ICollideable(Type_sphere) { - this->center = Float3::null; + this->center = Float4::standard_unit_w; this->radius = 0.0f; } -Sphere::Sphere( const Float3 &_position, const Float &_radius ) : ICollideable(Type_sphere) +Sphere::Sphere( const Float3 &p, const Float &r ) : ICollideable(Type_sphere) { - this->center = _position; - this->radius = _radius; + this->center = Float4( p, 1.0f ); + this->radius = r; +} + +Sphere::Sphere( const Float4 &p, const Float &r ) : ICollideable(Type_sphere) +{ + this->center = p; + this->radius = r; } Sphere::~Sphere( ) {} @@ -47,7 +53,7 @@ bool Sphere::Intersects( const ICollideable &target ) const } } -bool Sphere::Intersects( const ICollideable &target, Float3 &worldPointOfContact ) const +bool Sphere::Intersects( const ICollideable &target, Float4 &worldPointOfContact ) const { switch( target.type ) { diff --git a/Code/OysterPhysics3D/Sphere.h b/Code/OysterPhysics3D/Sphere.h index e2719328..2f483ecd 100644 --- a/Code/OysterPhysics3D/Sphere.h +++ b/Code/OysterPhysics3D/Sphere.h @@ -16,19 +16,20 @@ namespace Oyster { namespace Collision3D public: union { - struct{ ::Oyster::Math::Float3 center; ::Oyster::Math::Float radius; }; - char byte[sizeof(::Oyster::Math::Float3) + sizeof(::Oyster::Math::Float)]; + struct{ ::Oyster::Math::Float4 center; ::Oyster::Math::Float radius; }; + char byte[sizeof(::Oyster::Math::Float4) + sizeof(::Oyster::Math::Float)]; }; Sphere( ); Sphere( const ::Oyster::Math::Float3 ¢er, const ::Oyster::Math::Float &radius ); + Sphere( const ::Oyster::Math::Float4 ¢er, const ::Oyster::Math::Float &radius ); virtual ~Sphere( ); Sphere & operator = ( const Sphere &sphere ); virtual ::Utility::DynamicMemory::UniquePointer Clone( ) const; bool Intersects( const ICollideable &target ) const; - bool Intersects( const ICollideable &target, ::Oyster::Math::Float3 &worldPointOfContact ) const; + bool Intersects( const ICollideable &target, ::Oyster::Math::Float4 &worldPointOfContact ) const; bool Contains( const ICollideable &target ) const; }; } } diff --git a/Code/OysterPhysics3D/Universe.cpp b/Code/OysterPhysics3D/Universe.cpp index c2308690..7eb788ae 100644 --- a/Code/OysterPhysics3D/Universe.cpp +++ b/Code/OysterPhysics3D/Universe.cpp @@ -35,7 +35,7 @@ bool Universe::Intersects( const ICollideable &target ) const return true; } -bool Universe::Intersects( const ICollideable &target, Float3 &worldPointOfContact ) const +bool Universe::Intersects( const ICollideable &target, Float4 &worldPointOfContact ) const { // universe touches everything switch( target.type ) { diff --git a/Code/OysterPhysics3D/Universe.h b/Code/OysterPhysics3D/Universe.h index aa497cbc..5f009e0b 100644 --- a/Code/OysterPhysics3D/Universe.h +++ b/Code/OysterPhysics3D/Universe.h @@ -21,7 +21,7 @@ namespace Oyster { namespace Collision3D virtual ::Utility::DynamicMemory::UniquePointer Clone( ) const; bool Intersects( const ICollideable &target ) const; - bool Intersects( const ICollideable &target, ::Oyster::Math::Float3 &worldPointOfContact ) const; + bool Intersects( const ICollideable &target, ::Oyster::Math::Float4 &worldPointOfContact ) const; bool Contains( const ICollideable &target ) const; }; } } From 96bf20e5ae07c1d77689c70ad7f6fe49f66251ef Mon Sep 17 00:00:00 2001 From: Dander7BD Date: Wed, 18 Dec 2013 09:25:04 +0100 Subject: [PATCH 16/42] compile errors fixed --- Code/OysterPhysics3D/OysterCollision3D.cpp | 11 ++++++----- Code/OysterPhysics3D/Ray.cpp | 7 +++++++ Code/OysterPhysics3D/Ray.h | 1 + 3 files changed, 14 insertions(+), 5 deletions(-) diff --git a/Code/OysterPhysics3D/OysterCollision3D.cpp b/Code/OysterPhysics3D/OysterCollision3D.cpp index 526f87e7..00684898 100644 --- a/Code/OysterPhysics3D/OysterCollision3D.cpp +++ b/Code/OysterPhysics3D/OysterCollision3D.cpp @@ -671,14 +671,14 @@ namespace Oyster { namespace Collision3D { namespace Utility bool Intersect( const BoxAxisAligned &box, const Sphere &sphere, Float4 &worldPointOfContact ) { // by Robin Engman - - if(Intersect(box, sphere)) + if( Intersect(box, sphere) ) { Float distance; - Float3 boxMiddle = (box.maxVertex - box.minVertex)*0.5f; - Ray ray(boxMiddle, Float3(sphere.center - boxMiddle).Normalize()); + Float4 boxMiddle = (box.maxVertex - box.minVertex) * 0.5f; + Ray ray( boxMiddle, (sphere.center - boxMiddle).Normalize() ); Intersect( sphere, ray, distance ); worldPointOfContact = ray.origin + ray.direction * distance; + return true; } return false; @@ -784,10 +784,11 @@ namespace Oyster { namespace Collision3D { namespace Utility if( Intersect(box, sphere) ) { Float distance; - Ray ray( sphere.center, Float3(box.center - sphere.center) ); + Ray ray( sphere.center, box.center - sphere.center ); Intersect( box, ray, distance ); worldPointOfContact = ray.origin + ray.direction*distance; + return true; } return false; diff --git a/Code/OysterPhysics3D/Ray.cpp b/Code/OysterPhysics3D/Ray.cpp index b68ee68e..e7f21de8 100644 --- a/Code/OysterPhysics3D/Ray.cpp +++ b/Code/OysterPhysics3D/Ray.cpp @@ -22,6 +22,13 @@ Ray::Ray( const Float3 &o, const Float3 &d ) : ICollideable(Type_ray) this->collisionDistance = 0.0f; } +Ray::Ray( const Float4 &o, const Float4 &d ) : ICollideable(Type_ray) +{ + this->origin = o; + this->direction = d; + this->collisionDistance = 0.0f; +} + Ray::~Ray( ) {} Ray & Ray::operator = ( const Ray &ray ) diff --git a/Code/OysterPhysics3D/Ray.h b/Code/OysterPhysics3D/Ray.h index 79be0c21..a85580b3 100644 --- a/Code/OysterPhysics3D/Ray.h +++ b/Code/OysterPhysics3D/Ray.h @@ -30,6 +30,7 @@ namespace Oyster { namespace Collision3D Ray( ); Ray( const ::Oyster::Math::Float3 &origin, const ::Oyster::Math::Float3 &normalizedDirection ); + Ray( const ::Oyster::Math::Float4 &origin, const ::Oyster::Math::Float4 &normalizedDirection ); virtual ~Ray( ); Ray & operator = ( const Ray &ray ); From 5051a9e767beb0f00245b1f4e198e27451a4423a Mon Sep 17 00:00:00 2001 From: Dander7BD Date: Wed, 18 Dec 2013 14:16:13 +0100 Subject: [PATCH 17/42] Major StateStruct and API update --- Bin/DLL/GamePhysics_x86D.pdb | Bin 1870848 -> 1838080 bytes .../Implementation/PhysicsAPI_Impl.cpp | 170 +++++------ .../Implementation/PhysicsAPI_Impl.h | 18 +- .../Implementation/SimpleRigidBody.cpp | 138 +++++---- .../Implementation/SimpleRigidBody.h | 26 +- .../Implementation/SphericalRigidBody.cpp | 145 ++++----- .../Implementation/SphericalRigidBody.h | 26 +- Code/GamePhysics/PhysicsAPI.h | 282 +++++++++--------- Code/GamePhysics/PhysicsFormula-Impl.h | 3 +- Code/GamePhysics/PhysicsFormula.h | 1 + Code/GamePhysics/PhysicsStructs-Impl.h | 193 +++++++++--- Code/GamePhysics/PhysicsStructs.h | 80 +++-- Code/OysterMath/LinearMath.h | 33 +- Code/OysterMath/OysterMath.cpp | 14 +- Code/OysterMath/OysterMath.h | 20 +- Code/OysterPhysics3D/OysterPhysics3D.h | 60 +++- Code/OysterPhysics3D/RigidBody.cpp | 4 + Code/OysterPhysics3D/RigidBody.h | 1 + 18 files changed, 724 insertions(+), 490 deletions(-) diff --git a/Bin/DLL/GamePhysics_x86D.pdb b/Bin/DLL/GamePhysics_x86D.pdb index 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zZ0n8368DPs2z?L(4Wb>As|AzkK}JwItRi3Qeyty?>KD_K;9(y|S8YqO2SxxY zXlpw;tvMWRor5+RSdMVql+NaA;n=#uXH6%u3o3oqXB@j$`>cPU zJgtPtG2yj%af@*%91>2a2PgDQV~oFyMzYF7|v-9~FayCTk# zuZz5NPaOBH+>0kH<+!3g`2P4dF;LRnVpX>#->z}P)`|c4f4+zF^LUu-?_3N0FAuNz zgFk;lQPZ#ybj)Q~zi^D;T<}b25R?TCfkr~Zp|OymEUYd`SQgt$@HUXPeoInUeQvjE zu!r;)kpXS=JZU0p>8G)d*Nfz&W69T3*lh8#}?bEp?h$j zDaf8nAH51k$Guh-L|KnFV-O*3^xYJJ9xcBI?m$cX<_eq{SNxfllprqI#Zs4kWfyi% z&qtbYHa&_ocJw=*Pxorc3~Jd1B>T|cRJZ`Jp>o#DG0 z?^?{7d3&jE5q~#TeQ?}worldScene.GetTemporaryReferenceOf( objRef ); - if( tempRef != this->worldScene.invalid_ref ) - { - //this->worldScene.GetCustomBody( tempRef )->Apply //!< @todo TODO: need function - this->worldScene.SetAsAltered( tempRef ); - } -} - -void API_Impl::SetMomentOfInertiaTensor_KeepVelocity( const ICustomBody* objRef, const Float4x4 &localI ) -{ // deprecated - unsigned int tempRef = this->worldScene.GetTemporaryReferenceOf( objRef ); - if( tempRef != this->worldScene.invalid_ref ) - { - this->worldScene.GetCustomBody( tempRef )->SetMomentOfInertiaTensor_KeepVelocity( localI ); - } -} - -void API_Impl::SetMomentOfInertiaTensor_KeepMomentum( const ICustomBody* objRef, const Float4x4 &localI ) -{ // deprecated - unsigned int tempRef = this->worldScene.GetTemporaryReferenceOf( objRef ); - if( tempRef != this->worldScene.invalid_ref ) - { - this->worldScene.GetCustomBody( tempRef )->SetMomentOfInertiaTensor_KeepMomentum( localI ); - } -} - -void API_Impl::SetMass_KeepVelocity( const ICustomBody* objRef, Float m ) -{ // deprecated - unsigned int tempRef = this->worldScene.GetTemporaryReferenceOf( objRef ); - if( tempRef != this->worldScene.invalid_ref ) - { - this->worldScene.GetCustomBody( tempRef )->SetMass_KeepVelocity( m ); - } -} - -void API_Impl::SetMass_KeepMomentum( const ICustomBody* objRef, Float m ) -{ // deprecated - unsigned int tempRef = this->worldScene.GetTemporaryReferenceOf( objRef ); - if( tempRef != this->worldScene.invalid_ref ) - { - this->worldScene.GetCustomBody( tempRef )->SetMass_KeepMomentum( m ); - } -} - -void API_Impl::SetCenter( const ICustomBody* objRef, const Float3 &worldPos ) -{ - unsigned int tempRef = this->worldScene.GetTemporaryReferenceOf( objRef ); - if( tempRef != this->worldScene.invalid_ref ) - { - //this->worldScene.GetCustomBody( tempRef )->Set //!< @todo TODO: need function - this->worldScene.EvaluatePosition( tempRef ); - } -} - -void API_Impl::SetRotation( const ICustomBody* objRef, const Float4x4 &rotation ) -{ - unsigned int tempRef = this->worldScene.GetTemporaryReferenceOf( objRef ); - if( tempRef != this->worldScene.invalid_ref ) - { - this->worldScene.GetCustomBody( tempRef )->SetRotation( rotation ); - this->worldScene.EvaluatePosition( tempRef ); - } -} - -void API_Impl::SetOrientation( const ICustomBody* objRef, const Float4x4 &orientation ) -{ - unsigned int tempRef = this->worldScene.GetTemporaryReferenceOf( objRef ); - if( tempRef != this->worldScene.invalid_ref ) - { - this->worldScene.GetCustomBody( tempRef )->SetOrientation( orientation ); - this->worldScene.EvaluatePosition( tempRef ); - } -} - -void API_Impl::SetSize( const ICustomBody* objRef, const Float3 &size ) -{ - unsigned int tempRef = this->worldScene.GetTemporaryReferenceOf( objRef ); - if( tempRef != this->worldScene.invalid_ref ) - { - this->worldScene.GetCustomBody( tempRef )->SetSize( size ); - this->worldScene.EvaluatePosition( tempRef ); - } -} +//void API_Impl::ApplyForceAt( const ICustomBody* objRef, const Float3 &worldPos, const Float3 &worldF ) +//{ +// unsigned int tempRef = this->worldScene.GetTemporaryReferenceOf( objRef ); +// if( tempRef != this->worldScene.invalid_ref ) +// { +// //this->worldScene.GetCustomBody( tempRef )->Apply //!< @todo TODO: need function +// this->worldScene.SetAsAltered( tempRef ); +// } +//} +// +//void API_Impl::SetMomentOfInertiaTensor_KeepVelocity( const ICustomBody* objRef, const Float4x4 &localI ) +//{ // deprecated +// unsigned int tempRef = this->worldScene.GetTemporaryReferenceOf( objRef ); +// if( tempRef != this->worldScene.invalid_ref ) +// { +// this->worldScene.GetCustomBody( tempRef )->SetMomentOfInertiaTensor_KeepVelocity( localI ); +// } +//} +// +//void API_Impl::SetMomentOfInertiaTensor_KeepMomentum( const ICustomBody* objRef, const Float4x4 &localI ) +//{ // deprecated +// unsigned int tempRef = this->worldScene.GetTemporaryReferenceOf( objRef ); +// if( tempRef != this->worldScene.invalid_ref ) +// { +// this->worldScene.GetCustomBody( tempRef )->SetMomentOfInertiaTensor_KeepMomentum( localI ); +// } +//} +// +//void API_Impl::SetMass_KeepVelocity( const ICustomBody* objRef, Float m ) +//{ // deprecated +// unsigned int tempRef = this->worldScene.GetTemporaryReferenceOf( objRef ); +// if( tempRef != this->worldScene.invalid_ref ) +// { +// this->worldScene.GetCustomBody( tempRef )->SetMass_KeepVelocity( m ); +// } +//} +// +//void API_Impl::SetMass_KeepMomentum( const ICustomBody* objRef, Float m ) +//{ // deprecated +// unsigned int tempRef = this->worldScene.GetTemporaryReferenceOf( objRef ); +// if( tempRef != this->worldScene.invalid_ref ) +// { +// this->worldScene.GetCustomBody( tempRef )->SetMass_KeepMomentum( m ); +// } +//} +// +//void API_Impl::SetCenter( const ICustomBody* objRef, const Float3 &worldPos ) +//{ +// unsigned int tempRef = this->worldScene.GetTemporaryReferenceOf( objRef ); +// if( tempRef != this->worldScene.invalid_ref ) +// { +// //this->worldScene.GetCustomBody( tempRef )->Set //!< @todo TODO: need function +// this->worldScene.EvaluatePosition( tempRef ); +// } +//} +// +//void API_Impl::SetRotation( const ICustomBody* objRef, const Float4x4 &rotation ) +//{ +// unsigned int tempRef = this->worldScene.GetTemporaryReferenceOf( objRef ); +// if( tempRef != this->worldScene.invalid_ref ) +// { +// this->worldScene.GetCustomBody( tempRef )->SetRotation( rotation ); +// this->worldScene.EvaluatePosition( tempRef ); +// } +//} +// +//void API_Impl::SetOrientation( const ICustomBody* objRef, const Float4x4 &orientation ) +//{ +// unsigned int tempRef = this->worldScene.GetTemporaryReferenceOf( objRef ); +// if( tempRef != this->worldScene.invalid_ref ) +// { +// this->worldScene.GetCustomBody( tempRef )->SetOrientation( orientation ); +// this->worldScene.EvaluatePosition( tempRef ); +// } +//} +// +//void API_Impl::SetSize( const ICustomBody* objRef, const Float3 &size ) +//{ +// unsigned int tempRef = this->worldScene.GetTemporaryReferenceOf( objRef ); +// if( tempRef != this->worldScene.invalid_ref ) +// { +// this->worldScene.GetCustomBody( tempRef )->SetSize( size ); +// this->worldScene.EvaluatePosition( tempRef ); +// } +//} UniquePointer API_Impl::CreateRigidBody( const API::SimpleBodyDescription &desc ) const { diff --git a/Code/GamePhysics/Implementation/PhysicsAPI_Impl.h b/Code/GamePhysics/Implementation/PhysicsAPI_Impl.h index aea4c013..d10d067a 100644 --- a/Code/GamePhysics/Implementation/PhysicsAPI_Impl.h +++ b/Code/GamePhysics/Implementation/PhysicsAPI_Impl.h @@ -30,16 +30,16 @@ namespace Oyster ::Utility::DynamicMemory::UniquePointer ExtractObject( const ICustomBody* objRef ); void DestroyObject( const ICustomBody* objRef ); - void ApplyForceAt( const ICustomBody* objRef, const ::Oyster::Math::Float3 &worldPos, const ::Oyster::Math::Float3 &worldF ); + //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 ); - void SetMomentOfInertiaTensor_KeepMomentum( const ICustomBody* objRef, const ::Oyster::Math::Float4x4 &localI ); - void SetMass_KeepVelocity( const ICustomBody* objRef, ::Oyster::Math::Float m ); - void SetMass_KeepMomentum( const ICustomBody* objRef, ::Oyster::Math::Float m ); - void SetCenter( const ICustomBody* objRef, const ::Oyster::Math::Float3 &worldPos ); - void SetRotation( const ICustomBody* objRef, const ::Oyster::Math::Float4x4 &rotation ); - void SetOrientation( const ICustomBody* objRef, const ::Oyster::Math::Float4x4 &orientation ); - void SetSize( const ICustomBody* objRef, const ::Oyster::Math::Float3 &size ); + //void SetMomentOfInertiaTensor_KeepVelocity( const ICustomBody* objRef, const ::Oyster::Math::Float4x4 &localI ); + //void SetMomentOfInertiaTensor_KeepMomentum( const ICustomBody* objRef, const ::Oyster::Math::Float4x4 &localI ); + //void SetMass_KeepVelocity( const ICustomBody* objRef, ::Oyster::Math::Float m ); + //void SetMass_KeepMomentum( const ICustomBody* objRef, ::Oyster::Math::Float m ); + //void SetCenter( const ICustomBody* objRef, const ::Oyster::Math::Float3 &worldPos ); + //void SetRotation( const ICustomBody* objRef, const ::Oyster::Math::Float4x4 &rotation ); + //void SetOrientation( const ICustomBody* objRef, const ::Oyster::Math::Float4x4 &orientation ); + //void SetSize( const ICustomBody* objRef, const ::Oyster::Math::Float3 &size ); ::Utility::DynamicMemory::UniquePointer CreateRigidBody( const SimpleBodyDescription &desc ) const; ::Utility::DynamicMemory::UniquePointer CreateRigidBody( const SphericalBodyDescription &desc ) const; diff --git a/Code/GamePhysics/Implementation/SimpleRigidBody.cpp b/Code/GamePhysics/Implementation/SimpleRigidBody.cpp index 49309a99..0399d5de 100644 --- a/Code/GamePhysics/Implementation/SimpleRigidBody.cpp +++ b/Code/GamePhysics/Implementation/SimpleRigidBody.cpp @@ -18,7 +18,7 @@ SimpleRigidBody::SimpleRigidBody() SimpleRigidBody::SimpleRigidBody( const API::SimpleBodyDescription &desc ) { - this->rigid = RigidBody( Box( desc.rotation, desc.centerPosition, desc.size ), + this->rigid = RigidBody( Box( desc.rotation, desc.centerPosition.xyz, desc.size.xyz ), desc.mass, desc.inertiaTensor ); this->gravityNormal = Float3::null; @@ -44,12 +44,18 @@ UniquePointer SimpleRigidBody::Clone() const SimpleRigidBody::State SimpleRigidBody::GetState() const { - return State( this->rigid.box.boundingOffset.xyz, this->rigid.box.center.xyz, AngularAxis(this->rigid.box.rotation).xyz, this->rigid.linearMomentum, this->rigid.angularMomentum ); + return State( this->rigid.GetMass(), this->rigid.restitutionCoeff, this->rigid.frictionCoeff, + this->rigid.GetMomentOfInertia(), this->rigid.box.boundingOffset, + this->rigid.box.center, AngularAxis(this->rigid.box.rotation), + Float4(this->rigid.linearMomentum, 0.0f), Float4(this->rigid.angularMomentum, 0.0f) ); } SimpleRigidBody::State & SimpleRigidBody::GetState( SimpleRigidBody::State &targetMem ) const { - return targetMem = State( this->rigid.box.boundingOffset.xyz, this->rigid.box.center.xyz, AngularAxis(this->rigid.box.rotation).xyz, this->rigid.linearMomentum, this->rigid.angularMomentum ); + return targetMem = State( this->rigid.GetMass(), this->rigid.restitutionCoeff, this->rigid.frictionCoeff, + this->rigid.GetMomentOfInertia(), this->rigid.box.boundingOffset, + this->rigid.box.center, AngularAxis(this->rigid.box.rotation), + Float4(this->rigid.linearMomentum, 0.0f), Float4(this->rigid.angularMomentum, 0.0f) ); } void SimpleRigidBody::SetState( const SimpleRigidBody::State &state ) @@ -100,25 +106,25 @@ Float3 & SimpleRigidBody::GetGravityNormal( Float3 &targetMem ) const return targetMem = this->gravityNormal; } -Float3 & SimpleRigidBody::GetCenter( Float3 &targetMem ) const -{ - return targetMem = this->rigid.box.center; -} - -Float4x4 & SimpleRigidBody::GetRotation( Float4x4 &targetMem ) const -{ - return targetMem = this->rigid.box.rotation; -} - -Float4x4 & SimpleRigidBody::GetOrientation( Float4x4 &targetMem ) const -{ - return targetMem = this->rigid.GetOrientation(); -} - -Float4x4 & SimpleRigidBody::GetView( Float4x4 &targetMem ) const -{ - return targetMem = this->rigid.GetView(); -} +//Float3 & SimpleRigidBody::GetCenter( Float3 &targetMem ) const +//{ +// return targetMem = this->rigid.box.center; +//} +// +//Float4x4 & SimpleRigidBody::GetRotation( Float4x4 &targetMem ) const +//{ +// return targetMem = this->rigid.box.rotation; +//} +// +//Float4x4 & SimpleRigidBody::GetOrientation( Float4x4 &targetMem ) const +//{ +// return targetMem = this->rigid.GetOrientation(); +//} +// +//Float4x4 & SimpleRigidBody::GetView( Float4x4 &targetMem ) const +//{ +// return targetMem = this->rigid.GetView(); +//} Float3 SimpleRigidBody::GetRigidLinearVelocity() const { @@ -158,47 +164,47 @@ void SimpleRigidBody::SetGravityNormal( const Float3 &normalizedVector ) this->gravityNormal = normalizedVector; } -void SimpleRigidBody::SetMomentOfInertiaTensor_KeepVelocity( const Float4x4 &localI ) -{ - this->rigid.SetMomentOfInertia_KeepVelocity( localI ); -} - -void SimpleRigidBody::SetMomentOfInertiaTensor_KeepMomentum( const Float4x4 &localI ) -{ - this->rigid.SetMomentOfInertia_KeepMomentum( localI ); -} - -void SimpleRigidBody::SetMass_KeepVelocity( Float m ) -{ - this->rigid.SetMass_KeepVelocity( m ); -} - -void SimpleRigidBody::SetMass_KeepMomentum( Float m ) -{ - this->rigid.SetMass_KeepMomentum( m ); -} - -void SimpleRigidBody::SetCenter( const Float3 &worldPos ) -{ - this->rigid.SetCenter( worldPos ); -} - -void SimpleRigidBody::SetRotation( const Float4x4 &rotation ) -{ - this->rigid.SetRotation( rotation ); -} - -void SimpleRigidBody::SetOrientation( const Float4x4 &orientation ) -{ - this->rigid.SetOrientation( orientation ); -} - -void SimpleRigidBody::SetSize( const Float3 &size ) -{ - this->rigid.SetSize( size ); -} - -void SimpleRigidBody::SetMomentum( const Float3 &worldG ) -{ - this->rigid.SetLinearMomentum( worldG ); -} \ No newline at end of file +//void SimpleRigidBody::SetMomentOfInertiaTensor_KeepVelocity( const Float4x4 &localI ) +//{ +// this->rigid.SetMomentOfInertia_KeepVelocity( localI ); +//} +// +//void SimpleRigidBody::SetMomentOfInertiaTensor_KeepMomentum( const Float4x4 &localI ) +//{ +// this->rigid.SetMomentOfInertia_KeepMomentum( localI ); +//} +// +//void SimpleRigidBody::SetMass_KeepVelocity( Float m ) +//{ +// this->rigid.SetMass_KeepVelocity( m ); +//} +// +//void SimpleRigidBody::SetMass_KeepMomentum( Float m ) +//{ +// this->rigid.SetMass_KeepMomentum( m ); +//} +// +//void SimpleRigidBody::SetCenter( const Float3 &worldPos ) +//{ +// this->rigid.SetCenter( worldPos ); +//} +// +//void SimpleRigidBody::SetRotation( const Float4x4 &rotation ) +//{ +// this->rigid.SetRotation( rotation ); +//} +// +//void SimpleRigidBody::SetOrientation( const Float4x4 &orientation ) +//{ +// this->rigid.SetOrientation( orientation ); +//} +// +//void SimpleRigidBody::SetSize( const Float3 &size ) +//{ +// this->rigid.SetSize( size ); +//} +// +//void SimpleRigidBody::SetMomentum( const Float3 &worldG ) +//{ +// this->rigid.SetLinearMomentum( worldG ); +//} diff --git a/Code/GamePhysics/Implementation/SimpleRigidBody.h b/Code/GamePhysics/Implementation/SimpleRigidBody.h index 40448292..c314d09d 100644 --- a/Code/GamePhysics/Implementation/SimpleRigidBody.h +++ b/Code/GamePhysics/Implementation/SimpleRigidBody.h @@ -29,25 +29,25 @@ namespace Oyster { namespace Physics ::Oyster::Collision3D::Sphere & GetBoundingSphere( ::Oyster::Collision3D::Sphere &targetMem = ::Oyster::Collision3D::Sphere() ) const; ::Oyster::Math::Float4 & GetNormalAt( const ::Oyster::Math::Float4 &worldPos, ::Oyster::Math::Float4 &targetMem = ::Oyster::Math::Float4() ) const; ::Oyster::Math::Float3 & GetGravityNormal( ::Oyster::Math::Float3 &targetMem = ::Oyster::Math::Float3() ) const; - ::Oyster::Math::Float3 & GetCenter( ::Oyster::Math::Float3 &targetMem = ::Oyster::Math::Float3() ) const; - ::Oyster::Math::Float4x4 & GetRotation( ::Oyster::Math::Float4x4 &targetMem = ::Oyster::Math::Float4x4() ) const; - ::Oyster::Math::Float4x4 & GetOrientation( ::Oyster::Math::Float4x4 &targetMem = ::Oyster::Math::Float4x4() ) const; - ::Oyster::Math::Float4x4 & GetView( ::Oyster::Math::Float4x4 &targetMem = ::Oyster::Math::Float4x4() ) const; + //::Oyster::Math::Float3 & GetCenter( ::Oyster::Math::Float3 &targetMem = ::Oyster::Math::Float3() ) const; + //::Oyster::Math::Float4x4 & GetRotation( ::Oyster::Math::Float4x4 &targetMem = ::Oyster::Math::Float4x4() ) const; + //::Oyster::Math::Float4x4 & GetOrientation( ::Oyster::Math::Float4x4 &targetMem = ::Oyster::Math::Float4x4() ) const; + //::Oyster::Math::Float4x4 & GetView( ::Oyster::Math::Float4x4 &targetMem = ::Oyster::Math::Float4x4() ) const; UpdateState Update( ::Oyster::Math::Float timeStepLength ); void SetSubscription( EventAction_Collision functionPointer ); void SetGravity( bool ignore); void SetGravityNormal( const ::Oyster::Math::Float3 &normalizedVector ); - void SetMomentOfInertiaTensor_KeepVelocity( const ::Oyster::Math::Float4x4 &localI ); - void SetMomentOfInertiaTensor_KeepMomentum( const ::Oyster::Math::Float4x4 &localI ); - void SetMass_KeepVelocity( ::Oyster::Math::Float m ); - void SetMass_KeepMomentum( ::Oyster::Math::Float m ); - void SetCenter( const ::Oyster::Math::Float3 &worldPos ); - void SetRotation( const ::Oyster::Math::Float4x4 &rotation ); - void SetOrientation( const ::Oyster::Math::Float4x4 &orientation ); - void SetSize( const ::Oyster::Math::Float3 &size ); - void SetMomentum( const ::Oyster::Math::Float3 &worldG ); + //void SetMomentOfInertiaTensor_KeepVelocity( const ::Oyster::Math::Float4x4 &localI ); + //void SetMomentOfInertiaTensor_KeepMomentum( const ::Oyster::Math::Float4x4 &localI ); + //void SetMass_KeepVelocity( ::Oyster::Math::Float m ); + //void SetMass_KeepMomentum( ::Oyster::Math::Float m ); + //void SetCenter( const ::Oyster::Math::Float3 &worldPos ); + //void SetRotation( const ::Oyster::Math::Float4x4 &rotation ); + //void SetOrientation( const ::Oyster::Math::Float4x4 &orientation ); + //void SetSize( const ::Oyster::Math::Float3 &size ); + //void SetMomentum( const ::Oyster::Math::Float3 &worldG ); private: ::Oyster::Physics3D::RigidBody rigid; diff --git a/Code/GamePhysics/Implementation/SphericalRigidBody.cpp b/Code/GamePhysics/Implementation/SphericalRigidBody.cpp index 6b63a699..d7154f2f 100644 --- a/Code/GamePhysics/Implementation/SphericalRigidBody.cpp +++ b/Code/GamePhysics/Implementation/SphericalRigidBody.cpp @@ -19,7 +19,7 @@ SphericalRigidBody::SphericalRigidBody() SphericalRigidBody::SphericalRigidBody( const API::SphericalBodyDescription &desc ) { - this->rigid = RigidBody( Box( desc.rotation, desc.centerPosition, Float3(2.0f * desc.radius) ), + this->rigid = RigidBody( Box( desc.rotation, desc.centerPosition.xyz, Float3(2.0f * desc.radius) ), desc.mass, Formula::MomentOfInertia::CreateSphereMatrix( desc.mass, desc.radius ) ); this->gravityNormal = Float3::null; @@ -46,12 +46,18 @@ UniquePointer SphericalRigidBody::Clone() const SphericalRigidBody::State SphericalRigidBody::GetState() const { - return State( this->rigid.box.boundingOffset.xyz, this->rigid.box.center.xyz, AngularAxis(this->rigid.box.rotation).xyz, this->rigid.linearMomentum, this->rigid.angularMomentum ); + return State( this->rigid.GetMass(), this->rigid.restitutionCoeff, this->rigid.frictionCoeff, + this->rigid.GetMomentOfInertia(), this->rigid.box.boundingOffset, + this->rigid.box.center, AngularAxis(this->rigid.box.rotation), + Float4(this->rigid.linearMomentum, 0.0f), Float4(this->rigid.angularMomentum, 0.0f) ); } SphericalRigidBody::State & SphericalRigidBody::GetState( SphericalRigidBody::State &targetMem ) const { - return targetMem = State( this->rigid.box.boundingOffset.xyz, this->rigid.box.center.xyz, AngularAxis(this->rigid.box.rotation).xyz, this->rigid.linearMomentum, this->rigid.angularMomentum ); + return targetMem = State( this->rigid.GetMass(), this->rigid.restitutionCoeff, this->rigid.frictionCoeff, + this->rigid.GetMomentOfInertia(), this->rigid.box.boundingOffset, + this->rigid.box.center, AngularAxis(this->rigid.box.rotation), + Float4(this->rigid.linearMomentum, 0.0f), Float4(this->rigid.angularMomentum, 0.0f) ); } void SphericalRigidBody::SetState( const SphericalRigidBody::State &state ) @@ -93,7 +99,6 @@ Sphere & SphericalRigidBody::GetBoundingSphere( Sphere &targetMem ) const Float4 & SphericalRigidBody::GetNormalAt( const Float4 &worldPos, Float4 &targetMem ) const { - //! @todo TODO: better implementation needed return targetMem = (worldPos - this->rigid.box.center).GetNormalized(); } @@ -102,25 +107,25 @@ Float3 & SphericalRigidBody::GetGravityNormal( Float3 &targetMem ) const return targetMem = this->gravityNormal; } -Float3 & SphericalRigidBody::GetCenter( Float3 &targetMem ) const -{ - return targetMem = this->rigid.box.center; -} - -Float4x4 & SphericalRigidBody::GetRotation( Float4x4 &targetMem ) const -{ - return targetMem = this->rigid.box.rotation; -} - -Float4x4 & SphericalRigidBody::GetOrientation( Float4x4 &targetMem ) const -{ - return targetMem = this->rigid.GetOrientation(); -} - -Float4x4 & SphericalRigidBody::GetView( Float4x4 &targetMem ) const -{ - return targetMem = this->rigid.GetView(); -} +//Float3 & SphericalRigidBody::GetCenter( Float3 &targetMem ) const +//{ +// return targetMem = this->rigid.box.center; +//} +// +//Float4x4 & SphericalRigidBody::GetRotation( Float4x4 &targetMem ) const +//{ +// return targetMem = this->rigid.box.rotation; +//} +// +//Float4x4 & SphericalRigidBody::GetOrientation( Float4x4 &targetMem ) const +//{ +// return targetMem = this->rigid.GetOrientation(); +//} +// +//Float4x4 & SphericalRigidBody::GetView( Float4x4 &targetMem ) const +//{ +// return targetMem = this->rigid.GetView(); +//} Float3 SphericalRigidBody::GetRigidLinearVelocity() const { @@ -160,50 +165,50 @@ void SphericalRigidBody::SetGravityNormal( const Float3 &normalizedVector ) this->gravityNormal = normalizedVector; } -void SphericalRigidBody::SetMomentOfInertiaTensor_KeepVelocity( const Float4x4 &localI ) -{ - this->rigid.SetMomentOfInertia_KeepVelocity( localI ); -} - -void SphericalRigidBody::SetMomentOfInertiaTensor_KeepMomentum( const Float4x4 &localI ) -{ - this->rigid.SetMomentOfInertia_KeepMomentum( localI ); -} - -void SphericalRigidBody::SetMass_KeepVelocity( Float m ) -{ - this->rigid.SetMass_KeepVelocity( m ); -} - -void SphericalRigidBody::SetMass_KeepMomentum( Float m ) -{ - this->rigid.SetMass_KeepMomentum( m ); -} - -void SphericalRigidBody::SetCenter( const Float3 &worldPos ) -{ - this->rigid.SetCenter( worldPos ); - this->body.center = worldPos; -} - -void SphericalRigidBody::SetRotation( const Float4x4 &rotation ) -{ - this->rigid.SetRotation( rotation ); -} - -void SphericalRigidBody::SetOrientation( const Float4x4 &orientation ) -{ - this->rigid.SetOrientation( orientation ); - this->body.center = orientation.v[3].xyz; -} - -void SphericalRigidBody::SetSize( const Float3 &size ) -{ - this->rigid.SetSize( size ); - this->body.radius = 0.5f * Min( Min( size.x, size.y ), size.z ); // inline Min( FloatN )? -} - -void SphericalRigidBody::SetMomentum( const Float3 &worldG ) -{ - this->rigid.SetLinearMomentum( worldG ); -} \ No newline at end of file +//void SphericalRigidBody::SetMomentOfInertiaTensor_KeepVelocity( const Float4x4 &localI ) +//{ +// this->rigid.SetMomentOfInertia_KeepVelocity( localI ); +//} +// +//void SphericalRigidBody::SetMomentOfInertiaTensor_KeepMomentum( const Float4x4 &localI ) +//{ +// this->rigid.SetMomentOfInertia_KeepMomentum( localI ); +//} +// +//void SphericalRigidBody::SetMass_KeepVelocity( Float m ) +//{ +// this->rigid.SetMass_KeepVelocity( m ); +//} +// +//void SphericalRigidBody::SetMass_KeepMomentum( Float m ) +//{ +// this->rigid.SetMass_KeepMomentum( m ); +//} +// +//void SphericalRigidBody::SetCenter( const Float3 &worldPos ) +//{ +// this->rigid.SetCenter( worldPos ); +// this->body.center = worldPos; +//} +// +//void SphericalRigidBody::SetRotation( const Float4x4 &rotation ) +//{ +// this->rigid.SetRotation( rotation ); +//} +// +//void SphericalRigidBody::SetOrientation( const Float4x4 &orientation ) +//{ +// this->rigid.SetOrientation( orientation ); +// this->body.center = orientation.v[3].xyz; +//} +// +//void SphericalRigidBody::SetSize( const Float3 &size ) +//{ +// this->rigid.SetSize( size ); +// this->body.radius = 0.5f * Min( Min( size.x, size.y ), size.z ); // inline Min( FloatN )? +//} +// +//void SphericalRigidBody::SetMomentum( const Float3 &worldG ) +//{ +// this->rigid.SetLinearMomentum( worldG ); +//} diff --git a/Code/GamePhysics/Implementation/SphericalRigidBody.h b/Code/GamePhysics/Implementation/SphericalRigidBody.h index cf02a10c..3136f4e7 100644 --- a/Code/GamePhysics/Implementation/SphericalRigidBody.h +++ b/Code/GamePhysics/Implementation/SphericalRigidBody.h @@ -30,25 +30,25 @@ namespace Oyster { namespace Physics ::Oyster::Collision3D::Sphere & GetBoundingSphere( ::Oyster::Collision3D::Sphere &targetMem = ::Oyster::Collision3D::Sphere() ) const; ::Oyster::Math::Float4 & GetNormalAt( const ::Oyster::Math::Float4 &worldPos, ::Oyster::Math::Float4 &targetMem = ::Oyster::Math::Float4() ) const; ::Oyster::Math::Float3 & GetGravityNormal( ::Oyster::Math::Float3 &targetMem = ::Oyster::Math::Float3() ) const; - ::Oyster::Math::Float3 & GetCenter( ::Oyster::Math::Float3 &targetMem = ::Oyster::Math::Float3() ) const; - ::Oyster::Math::Float4x4 & GetRotation( ::Oyster::Math::Float4x4 &targetMem = ::Oyster::Math::Float4x4() ) const; - ::Oyster::Math::Float4x4 & GetOrientation( ::Oyster::Math::Float4x4 &targetMem = ::Oyster::Math::Float4x4() ) const; - ::Oyster::Math::Float4x4 & GetView( ::Oyster::Math::Float4x4 &targetMem = ::Oyster::Math::Float4x4() ) const; + //::Oyster::Math::Float3 & GetCenter( ::Oyster::Math::Float3 &targetMem = ::Oyster::Math::Float3() ) const; + //::Oyster::Math::Float4x4 & GetRotation( ::Oyster::Math::Float4x4 &targetMem = ::Oyster::Math::Float4x4() ) const; + //::Oyster::Math::Float4x4 & GetOrientation( ::Oyster::Math::Float4x4 &targetMem = ::Oyster::Math::Float4x4() ) const; + //::Oyster::Math::Float4x4 & GetView( ::Oyster::Math::Float4x4 &targetMem = ::Oyster::Math::Float4x4() ) const; UpdateState Update( ::Oyster::Math::Float timeStepLength ); void SetSubscription( EventAction_Collision functionPointer ); void SetGravity( bool ignore); void SetGravityNormal( const ::Oyster::Math::Float3 &normalizedVector ); - void SetMomentOfInertiaTensor_KeepVelocity( const ::Oyster::Math::Float4x4 &localI ); - void SetMomentOfInertiaTensor_KeepMomentum( const ::Oyster::Math::Float4x4 &localI ); - void SetMass_KeepVelocity( ::Oyster::Math::Float m ); - void SetMass_KeepMomentum( ::Oyster::Math::Float m ); - void SetCenter( const ::Oyster::Math::Float3 &worldPos ); - void SetRotation( const ::Oyster::Math::Float4x4 &rotation ); - void SetOrientation( const ::Oyster::Math::Float4x4 &orientation ); - void SetSize( const ::Oyster::Math::Float3 &size ); - void SetMomentum( const ::Oyster::Math::Float3 &worldG ); + //void SetMomentOfInertiaTensor_KeepVelocity( const ::Oyster::Math::Float4x4 &localI ); + //void SetMomentOfInertiaTensor_KeepMomentum( const ::Oyster::Math::Float4x4 &localI ); + //void SetMass_KeepVelocity( ::Oyster::Math::Float m ); + //void SetMass_KeepMomentum( ::Oyster::Math::Float m ); + //void SetCenter( const ::Oyster::Math::Float3 &worldPos ); + //void SetRotation( const ::Oyster::Math::Float4x4 &rotation ); + //void SetOrientation( const ::Oyster::Math::Float4x4 &orientation ); + //void SetSize( const ::Oyster::Math::Float3 &size ); + //void SetMomentum( const ::Oyster::Math::Float3 &worldG ); private: ::Oyster::Physics3D::RigidBody rigid; diff --git a/Code/GamePhysics/PhysicsAPI.h b/Code/GamePhysics/PhysicsAPI.h index 46c8c70d..945247b0 100644 --- a/Code/GamePhysics/PhysicsAPI.h +++ b/Code/GamePhysics/PhysicsAPI.h @@ -124,73 +124,73 @@ namespace Oyster ********************************************************/ virtual void DestroyObject( const ICustomBody* objRef ) = 0; - /******************************************************** - * Apply force on an object. - * @param objRef: A pointer to the ICustomBody representing a physical object. - * @param worldPos: Relative to the world origo. (Not relative to object) [m] - * @param worldF: Vector with the direction and magnitude of the force. [N] - ********************************************************/ - virtual void ApplyForceAt( const ICustomBody* objRef, const ::Oyster::Math::Float3 &worldPos, const ::Oyster::Math::Float3 &worldF ) = 0; + ///******************************************************** + // * Apply force on an object. + // * @param objRef: A pointer to the ICustomBody representing a physical object. + // * @param worldPos: Relative to the world origo. (Not relative to object) [m] + // * @param worldF: Vector with the direction and magnitude of the force. [N] + // ********************************************************/ + //virtual void ApplyForceAt( const ICustomBody* objRef, const ::Oyster::Math::Float3 &worldPos, const ::Oyster::Math::Float3 &worldF ) = 0; - /******************************************************** - * Sets the MomentOfInertia tensor matrix of an object without changing it's angular velocity. - * Noticeable effect: The angular momentum will change. Changing the amount of kinetic energy. - * @param objRef: A pointer to the ICustomBody representing a physical object. - * @param localI: The tensor matrix relative to the axises of the object. @see MomentOfInertia namespace. - ********************************************************/ - virtual void SetMomentOfInertiaTensor_KeepVelocity( const ICustomBody* objRef, const ::Oyster::Math::Float4x4 &localI ) = 0; - - /******************************************************** - * Sets the MomentOfInertia tensor matrix of an object without changing it's angular momentum. - * Noticeable effect: The angular velocity will change. Can be used to create slow effects. - * @param objRef: A pointer to the ICustomBody representing a physical object. - * @param localI: The tensor matrix relative to the axises of the object. @see MomentOfInertia namespace. - ********************************************************/ - virtual void SetMomentOfInertiaTensor_KeepMomentum( const ICustomBody* objRef, const ::Oyster::Math::Float4x4 &localI ) = 0; - - /******************************************************** - * Sets the mass of an object without changing it's linear velocity. - * Noticeable effect: The linear momentum will change. Changing the amount of kinetic energy. - * @param objRef: A pointer to the ICustomBody representing a physical object. - * @param m: [kg] - ********************************************************/ - virtual void SetMass_KeepVelocity( const ICustomBody* objRef, ::Oyster::Math::Float m ) = 0; - - /******************************************************** - * Sets the mass of an object without changing it's linear velocity. - * Noticeable effect: The linear velocity will change. Can be used to create slow effects. - * @param objRef: A pointer to the ICustomBody representing a physical object. - * @param m: [kg] - ********************************************************/ - virtual void SetMass_KeepMomentum( const ICustomBody* objRef, ::Oyster::Math::Float m ) = 0; - - /******************************************************** - * Instantly moves an object. - * @param objRef: A pointer to the ICustomBody representing a physical object. - * @param worldPos: Relative to the world origo. (Not relative to object) [m] - ********************************************************/ - virtual void SetCenter( const ICustomBody* objRef, const ::Oyster::Math::Float3 &worldPos ) = 0; - - /******************************************************** - * Instantly redirects object. - * @param objRef: A pointer to the ICustomBody representing a physical object. - * @param rotation: New rotation. - ********************************************************/ - virtual void SetRotation( const ICustomBody* objRef, const ::Oyster::Math::Float4x4 &rotation ) = 0; - - /******************************************************** - * Instantly moves and redirects object. - * @param objRef: A pointer to the ICustomBody representing a physical object. - * @param orientation: New orientation. - ********************************************************/ - virtual void SetOrientation( const ICustomBody* objRef, const ::Oyster::Math::Float4x4 &orientation ) = 0; - - /******************************************************** - * Resizes the boundingBox. - * @param objRef: A pointer to the ICustomBody representing a physical object. - * @param size: New size of this [m] - ********************************************************/ - virtual void SetSize( const ICustomBody* objRef, const ::Oyster::Math::Float3 &size ) = 0; + ///******************************************************** + // * Sets the MomentOfInertia tensor matrix of an object without changing it's angular velocity. + // * Noticeable effect: The angular momentum will change. Changing the amount of kinetic energy. + // * @param objRef: A pointer to the ICustomBody representing a physical object. + // * @param localI: The tensor matrix relative to the axises of the object. @see MomentOfInertia namespace. + // ********************************************************/ + //virtual void SetMomentOfInertiaTensor_KeepVelocity( const ICustomBody* objRef, const ::Oyster::Math::Float4x4 &localI ) = 0; + // + ///******************************************************** + // * Sets the MomentOfInertia tensor matrix of an object without changing it's angular momentum. + // * Noticeable effect: The angular velocity will change. Can be used to create slow effects. + // * @param objRef: A pointer to the ICustomBody representing a physical object. + // * @param localI: The tensor matrix relative to the axises of the object. @see MomentOfInertia namespace. + // ********************************************************/ + //virtual void SetMomentOfInertiaTensor_KeepMomentum( const ICustomBody* objRef, const ::Oyster::Math::Float4x4 &localI ) = 0; + // + ///******************************************************** + // * Sets the mass of an object without changing it's linear velocity. + // * Noticeable effect: The linear momentum will change. Changing the amount of kinetic energy. + // * @param objRef: A pointer to the ICustomBody representing a physical object. + // * @param m: [kg] + // ********************************************************/ + //virtual void SetMass_KeepVelocity( const ICustomBody* objRef, ::Oyster::Math::Float m ) = 0; + // + ///******************************************************** + // * Sets the mass of an object without changing it's linear velocity. + // * Noticeable effect: The linear velocity will change. Can be used to create slow effects. + // * @param objRef: A pointer to the ICustomBody representing a physical object. + // * @param m: [kg] + // ********************************************************/ + //virtual void SetMass_KeepMomentum( const ICustomBody* objRef, ::Oyster::Math::Float m ) = 0; + // + ///******************************************************** + // * Instantly moves an object. + // * @param objRef: A pointer to the ICustomBody representing a physical object. + // * @param worldPos: Relative to the world origo. (Not relative to object) [m] + // ********************************************************/ + //virtual void SetCenter( const ICustomBody* objRef, const ::Oyster::Math::Float3 &worldPos ) = 0; + // + ///******************************************************** + // * Instantly redirects object. + // * @param objRef: A pointer to the ICustomBody representing a physical object. + // * @param rotation: New rotation. + // ********************************************************/ + //virtual void SetRotation( const ICustomBody* objRef, const ::Oyster::Math::Float4x4 &rotation ) = 0; + // + ///******************************************************** + // * Instantly moves and redirects object. + // * @param objRef: A pointer to the ICustomBody representing a physical object. + // * @param orientation: New orientation. + // ********************************************************/ + //virtual void SetOrientation( const ICustomBody* objRef, const ::Oyster::Math::Float4x4 &orientation ) = 0; + // + ///******************************************************** + // * Resizes the boundingBox. + // * @param objRef: A pointer to the ICustomBody representing a physical object. + // * @param size: New size of this [m] + // ********************************************************/ + //virtual void SetSize( const ICustomBody* objRef, const ::Oyster::Math::Float3 &size ) = 0; /******************************************************** * Creates a new dynamically allocated object that can be used as a component for more complex ICustomBodies. @@ -307,30 +307,30 @@ namespace Oyster ********************************************************/ virtual ::Oyster::Math::Float3 & GetGravityNormal( ::Oyster::Math::Float3 &targetMem = ::Oyster::Math::Float3() ) const = 0; - /******************************************************** - * The world position of this center of gravity. - * @param targetMem: Provided memory that written into and then returned. - * @return a position in worldSpace. - ********************************************************/ - virtual ::Oyster::Math::Float3 & GetCenter( ::Oyster::Math::Float3 &targetMem = ::Oyster::Math::Float3() ) const = 0; - - /******************************************************** - * @param targetMem: Provided memory that written into and then returned. - * @return a copy of this's rotation matrix. - ********************************************************/ - virtual ::Oyster::Math::Float4x4 & GetRotation( ::Oyster::Math::Float4x4 &targetMem = ::Oyster::Math::Float4x4() ) const = 0; - - /******************************************************** - * @param targetMem: Provided memory that written into and then returned. - * @return a copy of this's orientation matrix. - ********************************************************/ - virtual ::Oyster::Math::Float4x4 & GetOrientation( ::Oyster::Math::Float4x4 &targetMem = ::Oyster::Math::Float4x4() ) const = 0; - - /******************************************************** - * @param targetMem: Provided memory that written into and then returned. - * @return a copy of this's view matrix. - ********************************************************/ - virtual ::Oyster::Math::Float4x4 & GetView( ::Oyster::Math::Float4x4 &targetMem = ::Oyster::Math::Float4x4() ) const = 0; + ///******************************************************** + // * The world position of this center of gravity. + // * @param targetMem: Provided memory that written into and then returned. + // * @return a position in worldSpace. + // ********************************************************/ + //virtual ::Oyster::Math::Float3 & GetCenter( ::Oyster::Math::Float3 &targetMem = ::Oyster::Math::Float3() ) const = 0; + // + ///******************************************************** + // * @param targetMem: Provided memory that written into and then returned. + // * @return a copy of this's rotation matrix. + // ********************************************************/ + //virtual ::Oyster::Math::Float4x4 & GetRotation( ::Oyster::Math::Float4x4 &targetMem = ::Oyster::Math::Float4x4() ) const = 0; + // + ///******************************************************** + // * @param targetMem: Provided memory that written into and then returned. + // * @return a copy of this's orientation matrix. + // ********************************************************/ + //virtual ::Oyster::Math::Float4x4 & GetOrientation( ::Oyster::Math::Float4x4 &targetMem = ::Oyster::Math::Float4x4() ) const = 0; + // + ///******************************************************** + // * @param targetMem: Provided memory that written into and then returned. + // * @return a copy of this's view matrix. + // ********************************************************/ + //virtual ::Oyster::Math::Float4x4 & GetView( ::Oyster::Math::Float4x4 &targetMem = ::Oyster::Math::Float4x4() ) const = 0; /******************************************************** * To not be called if is in Engine @@ -356,59 +356,59 @@ namespace Oyster ********************************************************/ virtual void SetGravityNormal( const ::Oyster::Math::Float3 &normalizedVector ) = 0; - /******************************************************** - * To not be called if is in Engine - * Use API::SetMomentOfInertiaTensor_KeepVelocity(...) instead - ********************************************************/ - virtual void SetMomentOfInertiaTensor_KeepVelocity( const ::Oyster::Math::Float4x4 &localI ) = 0; - - /******************************************************** - * To not be called if is in Engine - * Use API::SetMomentOfInertiaTensor_KeepMomentum(...) - ********************************************************/ - virtual void SetMomentOfInertiaTensor_KeepMomentum( const ::Oyster::Math::Float4x4 &localI ) = 0; - - /******************************************************** - * To not be called if is in Engine - * Use API::SetMass_KeepVelocity(...) - ********************************************************/ - virtual void SetMass_KeepVelocity( ::Oyster::Math::Float m ) = 0; - - /******************************************************** - * To not be called if is in Engine - * Use API::SetMass_KeepMomentum(...) - ********************************************************/ - virtual void SetMass_KeepMomentum( ::Oyster::Math::Float m ) = 0; - - /******************************************************** - * To not be called if is in Engine - * Use API::SetCenter(...) - ********************************************************/ - virtual void SetCenter( const ::Oyster::Math::Float3 &worldPos ) = 0; - - /******************************************************** - * To not be called if is in Engine - * Use API::SetRotation(...) - ********************************************************/ - virtual void SetRotation( const ::Oyster::Math::Float4x4 &rotation ) = 0; - - /******************************************************** - * To not be called if is in Engine - * Use API::SetOrientation(...) - ********************************************************/ - virtual void SetOrientation( const ::Oyster::Math::Float4x4 &orientation ) = 0; + ///******************************************************** + // * To not be called if is in Engine + // * Use API::SetMomentOfInertiaTensor_KeepVelocity(...) instead + // ********************************************************/ + //virtual void SetMomentOfInertiaTensor_KeepVelocity( const ::Oyster::Math::Float4x4 &localI ) = 0; + // + ///******************************************************** + // * To not be called if is in Engine + // * Use API::SetMomentOfInertiaTensor_KeepMomentum(...) + // ********************************************************/ + //virtual void SetMomentOfInertiaTensor_KeepMomentum( const ::Oyster::Math::Float4x4 &localI ) = 0; + // + ///******************************************************** + // * To not be called if is in Engine + // * Use API::SetMass_KeepVelocity(...) + // ********************************************************/ + //virtual void SetMass_KeepVelocity( ::Oyster::Math::Float m ) = 0; + // + ///******************************************************** + // * To not be called if is in Engine + // * Use API::SetMass_KeepMomentum(...) + // ********************************************************/ + //virtual void SetMass_KeepMomentum( ::Oyster::Math::Float m ) = 0; + // + ///******************************************************** + // * To not be called if is in Engine + // * Use API::SetCenter(...) + // ********************************************************/ + //virtual void SetCenter( const ::Oyster::Math::Float3 &worldPos ) = 0; + // + ///******************************************************** + // * To not be called if is in Engine + // * Use API::SetRotation(...) + // ********************************************************/ + //virtual void SetRotation( const ::Oyster::Math::Float4x4 &rotation ) = 0; + // + ///******************************************************** + // * To not be called if is in Engine + // * Use API::SetOrientation(...) + // ********************************************************/ + //virtual void SetOrientation( const ::Oyster::Math::Float4x4 &orientation ) = 0; - /******************************************************** - * To not be called if is in Engine - * Use API::SetSize(...) - ********************************************************/ - virtual void SetSize( const ::Oyster::Math::Float3 &size ) = 0; + ///******************************************************** + // * To not be called if is in Engine + // * Use API::SetSize(...) + // ********************************************************/ + //virtual void SetSize( const ::Oyster::Math::Float3 &size ) = 0; - /******************************************************** - * To not be called if is in Engine - * Use API::?? @todo TODO: - ********************************************************/ - virtual void SetMomentum( const ::Oyster::Math::Float3 &worldG ) = 0; + ///******************************************************** + // * To not be called if is in Engine + // * Use API::?? @todo TODO: + // ********************************************************/ + //virtual void SetMomentum( const ::Oyster::Math::Float3 &worldG ) = 0; }; } } diff --git a/Code/GamePhysics/PhysicsFormula-Impl.h b/Code/GamePhysics/PhysicsFormula-Impl.h index 2c97de24..c0d4ed64 100644 --- a/Code/GamePhysics/PhysicsFormula-Impl.h +++ b/Code/GamePhysics/PhysicsFormula-Impl.h @@ -38,9 +38,10 @@ namespace Oyster { namespace Physics { namespace Formula { inline ::Oyster::Math::Float Impulse( ::Oyster::Math::Float e, ::Oyster::Math::Float mA, ::Oyster::Math::Float gA, ::Oyster::Math::Float mB, ::Oyster::Math::Float gB ) { - return (e+1) * (mB*gA - mA*gB) / (mA + mB); + return (e + 1) * (mB*gA - mA*gB) / (mA + mB); } } + } } } #endif \ No newline at end of file diff --git a/Code/GamePhysics/PhysicsFormula.h b/Code/GamePhysics/PhysicsFormula.h index 156b9e45..c15d8078 100644 --- a/Code/GamePhysics/PhysicsFormula.h +++ b/Code/GamePhysics/PhysicsFormula.h @@ -2,6 +2,7 @@ #define PHYSICS_FORMULA_H #include "OysterMath.h" +#include "OysterPhysics3D.h" namespace Oyster { namespace Physics { namespace Formula { diff --git a/Code/GamePhysics/PhysicsStructs-Impl.h b/Code/GamePhysics/PhysicsStructs-Impl.h index daf108bb..d13fdd80 100644 --- a/Code/GamePhysics/PhysicsStructs-Impl.h +++ b/Code/GamePhysics/PhysicsStructs-Impl.h @@ -10,8 +10,8 @@ namespace Oyster { namespace Physics inline SimpleBodyDescription::SimpleBodyDescription() { this->rotation = ::Oyster::Math::Float4x4::identity; - this->centerPosition = ::Oyster::Math::Float3::null; - this->size = ::Oyster::Math::Float3( 1.0f ); + this->centerPosition = ::Oyster::Math::Float4::null; + this->size = ::Oyster::Math::Float4( 1.0f ); this->mass = 12.0f; this->inertiaTensor = ::Oyster::Math::Float4x4::identity; this->subscription = NULL; @@ -21,36 +21,66 @@ namespace Oyster { namespace Physics inline SphericalBodyDescription::SphericalBodyDescription() { this->rotation = ::Oyster::Math::Float4x4::identity; - this->centerPosition = ::Oyster::Math::Float3::null; + this->centerPosition = ::Oyster::Math::Float4::null; this->radius = 0.5f; this->mass = 10.0f; this->subscription = NULL; this->ignoreGravity = false; } - inline CustomBodyState::CustomBodyState( const ::Oyster::Math::Float3 &reach, const ::Oyster::Math::Float3 ¢erPos, const ::Oyster::Math::Float3 &rotation, const ::Oyster::Math::Float3 &linearMomentum, const ::Oyster::Math::Float3 &angularMomentum ) + inline CustomBodyState::CustomBodyState( ::Oyster::Math::Float mass, ::Oyster::Math::Float restitutionCoeff, ::Oyster::Math::Float frictionCoeff, const ::Oyster::Math::Float4x4 &inertiaTensor, const ::Oyster::Math::Float4 &reach, const ::Oyster::Math::Float4 ¢erPos, const ::Oyster::Math::Float4 &rotation, const ::Oyster::Math::Float4 &linearMomentum, const ::Oyster::Math::Float4 &angularMomentum ) { - this->reach = ::Oyster::Math::Float4( reach, 0.0f ); - this->centerPos = ::Oyster::Math::Float4( centerPos, 1.0f ); - this->angularAxis = ::Oyster::Math::Float4( rotation, 0.0f ); - this->linearMomentum = ::Oyster::Math::Float4( linearMomentum, 0.0f ); - this->angularMomentum = ::Oyster::Math::Float4( angularMomentum, 0.0f ); + this->mass = mass; + this->restitutionCoeff = restitutionCoeff; + this->frictionCoeff = frictionCoeff; + this->inertiaTensor = inertiaTensor; + this->reach = ::Oyster::Math::Float4( reach.xyz, 0.0f ); + this->centerPos = ::Oyster::Math::Float4( centerPos.xyz, 1.0f ); + this->angularAxis = ::Oyster::Math::Float4( rotation.xyz, 0.0f ); + this->linearMomentum = ::Oyster::Math::Float4( linearMomentum.xyz, 0.0f ); + this->angularMomentum = ::Oyster::Math::Float4( angularMomentum.xyz, 0.0f ); + this->linearImpulse = this->angularImpulse = ::Oyster::Math::Float4::null; this->isSpatiallyAltered = this->isDisturbed = false; } inline CustomBodyState & CustomBodyState::operator = ( const CustomBodyState &state ) { + this->mass = state.mass; + this->restitutionCoeff = state.restitutionCoeff; + this->frictionCoeff = state.frictionCoeff; + this->inertiaTensor = state.inertiaTensor; this->reach = state.reach; this->centerPos = state.centerPos; this->angularAxis = state.angularAxis; this->linearMomentum = state.linearMomentum; this->angularMomentum = state.angularMomentum; - + this->linearImpulse = state.linearImpulse; + this->angularImpulse = state.angularImpulse; this->isSpatiallyAltered = state.isSpatiallyAltered; this->isDisturbed = state.isDisturbed; return *this; } + inline const ::Oyster::Math::Float CustomBodyState::GetMass() const + { + return this->mass; + } + + inline const ::Oyster::Math::Float CustomBodyState::GetRestitutionCoeff() const + { + return this->restitutionCoeff; + } + + inline const ::Oyster::Math::Float CustomBodyState::GetFrictionCoeff() const + { + return this->frictionCoeff; + } + + inline const ::Oyster::Math::Float4x4 & CustomBodyState::GetMomentOfInertia() const + { + return this->inertiaTensor; + } + inline const ::Oyster::Math::Float4 & CustomBodyState::GetReach() const { return this->reach; @@ -76,16 +106,14 @@ namespace Oyster { namespace Physics return ::Oyster::Math3D::RotationMatrix( this->GetAngularAxis().xyz ); } - inline const ::Oyster::Math::Float CustomBodyState::GetMass() const + inline ::Oyster::Math::Float4x4 CustomBodyState::GetOrientation() const { - //! @todo TODO: stub to be implemented (CustomBodyState::GetMass) - return 1.0f; + return ::Oyster::Math3D::OrientationMatrix( this->angularAxis.xyz, this->centerPos.xyz ); } - inline const ::Oyster::Math::Float CustomBodyState::GetRestitutionCoeff() const + inline ::Oyster::Math::Float4x4 CustomBodyState::GetView() const { - //! @todo TODO: stub to be implemented (CustomBodyState::GetRestitutionCoeff) - return 1.0f; + return ::Oyster::Math3D::ViewMatrix( this->angularAxis.xyz, this->centerPos.xyz ); } inline const ::Oyster::Math::Float4 & CustomBodyState::GetLinearMomentum() const @@ -93,15 +121,10 @@ namespace Oyster { namespace Physics return this->linearMomentum; } - inline ::Oyster::Math::Float4 CustomBodyState::GetLinearMomentum( const ::Oyster::Math::Float3 &at ) const - { - return this->GetLinearMomentum( ::Oyster::Math::Float4(at, 1.0f) ); - } - inline ::Oyster::Math::Float4 CustomBodyState::GetLinearMomentum( const ::Oyster::Math::Float4 &at ) const { - //! @todo TODO: stub to be implemented (CustomBodyState::GetLinearMomentum) - return ::Oyster::Math::Float4::null; + //return this->linearMomentum + ::Oyster::Physics3D::Formula::TangentialLinearMomentum( this->angularMomentum, at - this->centerPos ); // C3083 error? + return this->linearMomentum + ::Oyster::Math::Float4( this->angularMomentum.xyz.Cross((at - this->centerPos).xyz), 0.0f ); } inline const ::Oyster::Math::Float4 & CustomBodyState::GetAngularMomentum() const @@ -109,25 +132,79 @@ namespace Oyster { namespace Physics return this->angularMomentum; } - inline void CustomBodyState::SetSize( const ::Oyster::Math::Float3 &size ) + inline const ::Oyster::Math::Float4 & CustomBodyState::GetLinearImpulse() const + { + return this->linearImpulse; + } + + inline const ::Oyster::Math::Float4 & CustomBodyState::GetAngularImpulse() const + { + return this->angularImpulse; + } + + inline void CustomBodyState::SetMass_KeepMomentum( ::Oyster::Math::Float m ) + { + this->mass = m; + } + + inline void CustomBodyState::SetMass_KeepVelocity( ::Oyster::Math::Float m ) + { + if( m != 0.0f ) + { // sanity block! + // Formula::LinearMomentum( m, Formula::LinearVelocity(this->mass, this->linearMomentum) ) + // is the same as (this->linearMomentum / this->mass) * m = (m / this->mass) * this->linearMomentum + this->linearMomentum *= (m / this->mass); + this->mass = m; + } + } + + inline void CustomBodyState::SetRestitutionCoeff( ::Oyster::Math::Float e ) + { + this->restitutionCoeff = e; + } + + inline void CustomBodyState::SetFrictionCoeff( ::Oyster::Math::Float u ) + { + this->frictionCoeff = u; + } + + inline void CustomBodyState::SetMomentOfInertia_KeepMomentum( const ::Oyster::Math::Float4x4 &tensor ) + { + this->inertiaTensor = tensor; + } + + inline void CustomBodyState::SetMomentOfInertia_KeepVelocity( const ::Oyster::Math::Float4x4 &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 ); // C3083 error? + ::Oyster::Math::Float4 w = (rotation * this->inertiaTensor).GetInverse() * this->angularMomentum; + this->inertiaTensor = tensor; + //this->angularMomentum = ::Oyster::Physics3D::Formula::AngularMomentum( rotation * tensor, w ); // C3083 error? + this->angularMomentum = rotation * tensor * w; + } + } + + inline void CustomBodyState::SetSize( const ::Oyster::Math::Float4 &size ) { this->SetReach( 0.5f * size ); } - inline void CustomBodyState::SetReach( const ::Oyster::Math::Float3 &halfSize ) + inline void CustomBodyState::SetReach( const ::Oyster::Math::Float4 &halfSize ) { this->reach.xyz = halfSize; this->reach = ::Utility::Value::Max( this->reach, ::Oyster::Math::Float4::null ); this->isSpatiallyAltered = this->isDisturbed = true; } - inline void CustomBodyState::SetCenterPosition( const ::Oyster::Math::Float3 ¢erPos ) + inline void CustomBodyState::SetCenterPosition( const ::Oyster::Math::Float4 ¢erPos ) { this->centerPos.xyz = centerPos; this->isSpatiallyAltered = this->isDisturbed = true; } - inline void CustomBodyState::SetRotation( const ::Oyster::Math::Float3 &angularAxis ) + inline void CustomBodyState::SetRotation( const ::Oyster::Math::Float4 &angularAxis ) { this->angularAxis.xyz = angularAxis; this->isSpatiallyAltered = this->isDisturbed = true; @@ -135,43 +212,69 @@ namespace Oyster { namespace Physics inline void CustomBodyState::SetRotation( const ::Oyster::Math::Float4x4 &rotation ) { - this->SetRotation( ::Oyster::Math3D::AngularAxis(rotation).xyz ); + this->SetRotation( ::Oyster::Math3D::AngularAxis(rotation) ); } - inline void CustomBodyState::SetMass( ::Oyster::Math::Float m ) + inline void CustomBodyState::SetOrientation( const ::Oyster::Math::Float4x4 &orientation ) { - //! @todo TODO: stub to be implemented (CustomBodyState::SetRestitutionCoeff) + this->SetRotation( ::Oyster::Math3D::ExtractAngularAxis(orientation) ); + this->SetCenterPosition( orientation.v[3] ); } - inline void CustomBodyState::SetRestitutionCoeff( ::Oyster::Math::Float e ) + inline void CustomBodyState::SetLinearMomentum( const ::Oyster::Math::Float4 &g ) { - //! @todo TODO: stub to be implemented (CustomBodyState::SetRestitutionCoeff) - } - - inline void CustomBodyState::SetLinearMomentum( const ::Oyster::Math::Float3 &g ) - { - this->linearMomentum = ::Oyster::Math::Float4( g, 0.0f ); + this->linearMomentum.xyz = g; this->isDisturbed = true; } - inline void CustomBodyState::SetAngularMomentum( const ::Oyster::Math::Float3 &h ) + inline void CustomBodyState::SetAngularMomentum( const ::Oyster::Math::Float4 &h ) { - this->angularMomentum = ::Oyster::Math::Float4( h, 0.0f ); + this->angularMomentum.xyz = h; this->isDisturbed = true; } - inline void CustomBodyState::ApplyImpulse( const ::Oyster::Math::Float4 &j ) + inline void CustomBodyState::SetLinearImpulse( const ::Oyster::Math::Float4 &j ) { - this->linearMomentum += j; + this->linearImpulse.xyz = j; + this->isDisturbed = true; + } + + inline void CustomBodyState::SetAngularImpulse( const ::Oyster::Math::Float4 &j ) + { + this->angularImpulse.xyz = j; + this->isDisturbed = true; + } + + inline void CustomBodyState::AddRotation( const ::Oyster::Math::Float4 &angularAxis ) + { + this->angularAxis += angularAxis; + this->isSpatiallyAltered = this->isDisturbed = true; + } + + inline void CustomBodyState::AddTranslation( const ::Oyster::Math::Float4 &deltaPos ) + { + this->centerPos += deltaPos; + this->isSpatiallyAltered = this->isDisturbed = true; + } + + inline void CustomBodyState::ApplyLinearImpulse( const ::Oyster::Math::Float4 &j ) + { + this->linearImpulse += j; + this->isDisturbed = true; + } + + inline void CustomBodyState::ApplyAngularImpulse( const ::Oyster::Math::Float4 &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 ) { - //! @todo TODO: stub to be implemented (CustomBodyState::ApplyImpulse) - - this->linearMomentum += j.Dot( normal ) * normal; // perpendicular impulse component - //this->angularImpulse += Formula:: ... + //::Oyster::Math::Float4 tangentialImpulse = ::Oyster::Physics3D::Formula::AngularMomentum( j, at - this->centerPos ); // C3083 error? + ::Oyster::Math::Float4 tangentialImpulse = ::Oyster::Math::Float4( (at - this->centerPos).xyz.Cross(j.xyz), 0.0f ); + this->linearImpulse += j - tangentialImpulse; + this->angularImpulse += tangentialImpulse; this->isDisturbed = true; } diff --git a/Code/GamePhysics/PhysicsStructs.h b/Code/GamePhysics/PhysicsStructs.h index e3c20fea..ce2b40cb 100644 --- a/Code/GamePhysics/PhysicsStructs.h +++ b/Code/GamePhysics/PhysicsStructs.h @@ -11,8 +11,8 @@ namespace Oyster { namespace Physics struct SimpleBodyDescription { ::Oyster::Math::Float4x4 rotation; - ::Oyster::Math::Float3 centerPosition; - ::Oyster::Math::Float3 size; + ::Oyster::Math::Float4 centerPosition; + ::Oyster::Math::Float4 size; ::Oyster::Math::Float mass; ::Oyster::Math::Float4x4 inertiaTensor; ::Oyster::Physics::ICustomBody::EventAction_Collision subscription; @@ -24,7 +24,7 @@ namespace Oyster { namespace Physics struct SphericalBodyDescription { ::Oyster::Math::Float4x4 rotation; - ::Oyster::Math::Float3 centerPosition; + ::Oyster::Math::Float4 centerPosition; ::Oyster::Math::Float radius; ::Oyster::Math::Float mass; ::Oyster::Physics::ICustomBody::EventAction_Collision subscription; @@ -36,46 +36,68 @@ namespace Oyster { namespace Physics struct CustomBodyState { public: - CustomBodyState( const ::Oyster::Math::Float3 &reach = ::Oyster::Math::Float3::null, - const ::Oyster::Math::Float3 ¢erPos = ::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 ); + CustomBodyState( ::Oyster::Math::Float mass = 1.0f, + ::Oyster::Math::Float restitutionCoeff = 1.0f, + ::Oyster::Math::Float frictionCoeff = 1.0f, + const ::Oyster::Math::Float4x4 &inertiaTensor = ::Oyster::Math::Float4x4::identity, + const ::Oyster::Math::Float4 &reach = ::Oyster::Math::Float4::null, + const ::Oyster::Math::Float4 ¢erPos = ::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 ); CustomBodyState & operator = ( const CustomBodyState &state ); - const ::Oyster::Math::Float4 & GetReach() const; - ::Oyster::Math::Float4 GetSize() const; - const ::Oyster::Math::Float4 & GetCenterPosition() const; - const ::Oyster::Math::Float4 & GetAngularAxis() const; - ::Oyster::Math::Float4x4 GetRotation() const; - const ::Oyster::Math::Float GetMass() const; - const ::Oyster::Math::Float GetRestitutionCoeff() const; - const ::Oyster::Math::Float4 & GetLinearMomentum() const; - ::Oyster::Math::Float4 GetLinearMomentum( const ::Oyster::Math::Float3 &at ) const; - ::Oyster::Math::Float4 GetLinearMomentum( const ::Oyster::Math::Float4 &at ) const; - const ::Oyster::Math::Float4 & GetAngularMomentum() const; + const ::Oyster::Math::Float GetMass() const; + const ::Oyster::Math::Float GetRestitutionCoeff() const; + const ::Oyster::Math::Float GetFrictionCoeff() 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; + ::Oyster::Math::Float4x4 GetRotation() const; + ::Oyster::Math::Float4x4 GetOrientation() const; + ::Oyster::Math::Float4x4 GetView() 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; - - void SetSize( const ::Oyster::Math::Float3 &size ); - void SetReach( const ::Oyster::Math::Float3 &halfSize ); - void SetCenterPosition( const ::Oyster::Math::Float3 ¢erPos ); - void SetRotation( const ::Oyster::Math::Float3 &angularAxis ); - void SetRotation( const ::Oyster::Math::Float4x4 &rotation ); - void SetMass( ::Oyster::Math::Float m ); + void SetMass_KeepMomentum( ::Oyster::Math::Float m ); + void SetMass_KeepVelocity( ::Oyster::Math::Float m ); void SetRestitutionCoeff( ::Oyster::Math::Float e ); - void SetLinearMomentum( const ::Oyster::Math::Float3 &g ); - void SetAngularMomentum( const ::Oyster::Math::Float3 &h ); + void SetFrictionCoeff( ::Oyster::Math::Float u ); + 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 ¢erPos ); + 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 ApplyImpulse( const ::Oyster::Math::Float4 &j ); + void AddRotation( const ::Oyster::Math::Float4 &angularAxis ); + void AddTranslation( const ::Oyster::Math::Float4 &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 ); bool IsSpatiallyAltered() const; bool IsDisturbed() const; private: + ::Oyster::Math::Float mass, restitutionCoeff, frictionCoeff; + ::Oyster::Math::Float4x4 inertiaTensor; ::Oyster::Math::Float4 reach, centerPos, angularAxis; ::Oyster::Math::Float4 linearMomentum, angularMomentum; + ::Oyster::Math::Float4 linearImpulse, angularImpulse; bool isSpatiallyAltered, isDisturbed; }; diff --git a/Code/OysterMath/LinearMath.h b/Code/OysterMath/LinearMath.h index 8bca1c19..f686ada4 100644 --- a/Code/OysterMath/LinearMath.h +++ b/Code/OysterMath/LinearMath.h @@ -266,6 +266,12 @@ namespace LinearAlgebra3D return ::std::asin( ::LinearAlgebra::Vector4(rotationMatrix.v[1].z, rotationMatrix.v[2].x, rotationMatrix.v[0].y, 1) ); } + template + inline ::LinearAlgebra::Vector4 ExtractAngularAxis( const ::LinearAlgebra::Matrix4x4 &orientationMatrix ) + { + return ::std::asin( ::LinearAlgebra::Vector4(orientationMatrix.v[1].z, orientationMatrix.v[2].x, orientationMatrix.v[0].y, 1) ); + } + template inline ::LinearAlgebra::Matrix4x4 & TranslationMatrix( const ::LinearAlgebra::Vector3 &position, ::LinearAlgebra::Matrix4x4 &targetMem = ::LinearAlgebra::Matrix4x4() ) { @@ -400,18 +406,35 @@ namespace LinearAlgebra3D } template - ::LinearAlgebra::Matrix4x4 & OrientationMatrix( const ::LinearAlgebra::Vector3 &sumDeltaAngularAxis, const ::LinearAlgebra::Vector3 &sumTranslation, ::LinearAlgebra::Matrix4x4 &targetMem = ::LinearAlgebra::Matrix4x4() ) - { /** @todo TODO: not tested */ - ScalarType radian = sumDeltaAngularAxis.Dot( sumDeltaAngularAxis ); + ::LinearAlgebra::Matrix4x4 & OrientationMatrix( const ::LinearAlgebra::Vector3 &angularAxis, const ::LinearAlgebra::Vector3 &translation, ::LinearAlgebra::Matrix4x4 &targetMem = ::LinearAlgebra::Matrix4x4() ) + { + ScalarType radian = angularAxis.Dot( angularAxis ); if( radian > 0 ) { radian = ::std::sqrt( radian ); - return OrientationMatrix( sumDeltaAngularAxis / radian, radian, sumTranslation, targetMem ); + return OrientationMatrix( angularAxis / radian, radian, translation, targetMem ); } else { targetMem = ::LinearAlgebra::Matrix4x4::identity; - targetMem.v[3].xyz = sumTranslation; + targetMem.v[3].xyz = translation; + return targetMem; + } + } + + template + ::LinearAlgebra::Matrix4x4 & ViewMatrix( const ::LinearAlgebra::Vector3 &angularAxis, const ::LinearAlgebra::Vector3 &translation, ::LinearAlgebra::Matrix4x4 &targetMem = ::LinearAlgebra::Matrix4x4() ) + { + ScalarType radian = angularAxis.Dot( angularAxis ); + if( radian > 0 ) + { + radian = ::std::sqrt( radian ); + return InverseOrientationMatrix( OrientationMatrix(angularAxis / radian, radian, translation, targetMem) ); + } + else + { + targetMem = ::LinearAlgebra::Matrix4x4::identity; + targetMem.v[3].xyz = -translation; return targetMem; } } diff --git a/Code/OysterMath/OysterMath.cpp b/Code/OysterMath/OysterMath.cpp index cf9fa8ae..b72ad551 100644 --- a/Code/OysterMath/OysterMath.cpp +++ b/Code/OysterMath/OysterMath.cpp @@ -91,6 +91,11 @@ namespace Oyster { namespace Math3D return ::LinearAlgebra3D::AngularAxis( rotationMatrix ); } + Float4 ExtractAngularAxis( const Float4x4 &orientationMatrix ) + { + return ::LinearAlgebra3D::ExtractAngularAxis( orientationMatrix ); + } + Float4x4 & TranslationMatrix( const Float3 &position, Float4x4 &targetMem ) { return ::LinearAlgebra3D::TranslationMatrix( position, targetMem ); @@ -147,9 +152,14 @@ namespace Oyster { namespace Math3D return ::LinearAlgebra3D::OrientationMatrix( normalizedAxis, deltaRadian, sumTranslation, targetMem ); } - Float4x4 & OrientationMatrix( const Float3 &sumDeltaAngularAxis, const Float3 &sumTranslation, Float4x4 &targetMem ) + Float4x4 & OrientationMatrix( const Float3 &angularAxis, const Float3 &translation, Float4x4 &targetMem ) { - return ::LinearAlgebra3D::OrientationMatrix( sumDeltaAngularAxis, sumTranslation, targetMem ); + return ::LinearAlgebra3D::OrientationMatrix( angularAxis, translation, targetMem ); + } + + Float4x4 & ViewMatrix( const Float3 &angularAxis, const Float3 &translation, Float4x4 &targetMem ) + { + return ::LinearAlgebra3D::ViewMatrix( angularAxis, translation, targetMem ); } Float4x4 & OrientationMatrix( const Float3 &sumDeltaAngularAxis, const Float3 &sumTranslation, const Float3 ¢erOfMass, Float4x4 &targetMem ) diff --git a/Code/OysterMath/OysterMath.h b/Code/OysterMath/OysterMath.h index 72fe7478..18a57458 100644 --- a/Code/OysterMath/OysterMath.h +++ b/Code/OysterMath/OysterMath.h @@ -153,6 +153,9 @@ namespace Oyster { namespace Math3D /// Oyster's native math library specialized //! Extracts the angularAxis from rotationMatrix Float4 AngularAxis( const Float4x4 &rotationMatrix ); + //! 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() ); @@ -191,19 +194,26 @@ namespace Oyster { namespace Math3D /// Oyster's native math library specialized * @param sumTranslation: sum of all the translation vectors. * @param targetMem: is set to a rigibody matrix that rotate counterclockwise and then translates. * @return targetMem - * @todo TODO: not tested *******************************************************************/ Float4x4 & OrientationMatrix( const Float3 &normalizedAxis, const Float & deltaRadian, const Float3 &sumTranslation, Float4x4 &targetMem = Float4x4() ); /******************************************************************* * Sets and returns targetMem as an orientation Matrix - * @param sumDeltaAngularAxis: sum of all ( (1/I) * ( L x D ) )-vectorproducts. There I is known as "moment of inertia", L as "angular momentum vector" and D the "lever vector". - * @param sumTranslation: sum of all the translation vectors. + * @param angularAxis: sum of all ( (1/I) * ( L x D ) )-vectorproducts. There I is known as "moment of inertia", L as "angular momentum vector" and D the "lever vector". + * @param translation: sum of all the translation vectors. * @param targetMem: is set to a rigibody matrix that rotate counterclockwise and then translates. * @return targetMem - * @todo TODO: not tested *******************************************************************/ - Float4x4 & OrientationMatrix( const Float3 &sumDeltaAngularAxis, const Float3 &sumTranslation, Float4x4 &targetMem = Float4x4() ); + Float4x4 & OrientationMatrix( const Float3 &angularAxis, const Float3 &translation, Float4x4 &targetMem = Float4x4() ); + + /******************************************************************* + * Sets and returns targetMem as a view Matrix + * @param angularAxis: sum of all ( (1/I) * ( L x D ) )-vectorproducts. There I is known as "moment of inertia", L as "angular momentum vector" and D the "lever vector". + * @param translation: sum of all the translation vectors. + * @param targetMem: is set to a rigibody matrix that rotate counterclockwise and then translates. + * @return targetMem + *******************************************************************/ + Float4x4 & ViewMatrix( const Float3 &angularAxis, const Float3 &translation, Float4x4 &targetMem = Float4x4() ); /******************************************************************* * Sets and returns targetMem as an orientation Matrix diff --git a/Code/OysterPhysics3D/OysterPhysics3D.h b/Code/OysterPhysics3D/OysterPhysics3D.h index 614a4a29..33d9a93e 100644 --- a/Code/OysterPhysics3D/OysterPhysics3D.h +++ b/Code/OysterPhysics3D/OysterPhysics3D.h @@ -12,6 +12,60 @@ namespace Oyster { namespace Physics3D namespace Formula { /// Library of 3D physics related formulas + /****************************************************************** + * Returns the linear momentum of a mass in motion. + * @todo TODO: improve doc + ******************************************************************/ + inline ::Oyster::Math::Float4 LinearMomentum( const ::Oyster::Math::Float &mass, const ::Oyster::Math::Float4 &linearVelocity ) + { + return linearVelocity * mass; + } + + /****************************************************************** + * Returns the linear momentum of a mass in motion. + * @todo TODO: improve doc + ******************************************************************/ + inline ::Oyster::Math::Float4 LinearVelocity( const ::Oyster::Math::Float &mass, const ::Oyster::Math::Float4 &linearMomentum ) + { + return linearMomentum / mass; + } + + /****************************************************************** + * Returns the world angular momentum of a mass in rotation. + * @todo TODO: improve doc + ******************************************************************/ + inline ::Oyster::Math::Float4 AngularMomentum( const ::Oyster::Math::Float4 linearMomentum, const ::Oyster::Math::Float4 &worldOffset ) + { + return ::Oyster::Math::Float4( worldOffset.xyz.Cross(linearMomentum.xyz), 0.0f ); + } + + /****************************************************************** + * Returns the world angular momentum of a mass in rotation. + * @todo TODO: improve doc + ******************************************************************/ + inline ::Oyster::Math::Float4 AngularMomentum( const ::Oyster::Math::Float4x4 &worldMomentOfInertia, const ::Oyster::Math::Float4 &angularVelocity ) + { + return worldMomentOfInertia * angularVelocity; + } + + /****************************************************************** + * Returns the world angular velocity of a mass in rotation. + * @todo TODO: improve doc + ******************************************************************/ + inline ::Oyster::Math::Float4 AngularVelocity( const ::Oyster::Math::Float4x4 &worldMomentOfInertiaInversed, const ::Oyster::Math::Float4 &angularMomentum ) + { + return worldMomentOfInertiaInversed * angularMomentum; + } + + /****************************************************************** + * Returns the world tangential momentum at worldPos, of a mass in rotation. + * @todo TODO: improve doc + ******************************************************************/ + inline ::Oyster::Math::Float4 TangentialLinearMomentum( const ::Oyster::Math::Float4 &angularMomentum, const ::Oyster::Math::Float4 &worldOffset ) + { + return ::Oyster::Math::Float4( angularMomentum.xyz.Cross(worldOffset.xyz), 0.0f ); + } + /****************************************************************** * Returns the linear kinetic energy of a mass in motion. * @todo TODO: improve doc @@ -192,12 +246,6 @@ namespace Oyster { namespace Physics3D return ( momentOfInertia * ::Oyster::Math::Float4(angularImpulseAcceleration, 0.0f) ).xyz; } - inline ::Oyster::Math::Float3 Impulse( ) - { - //! @todo TODO: implement calculation for impulse. Hijack Mattias Eriksson - return ::Oyster::Math::Float3::null; - } - namespace MomentOfInertia { /// Library of Formulas to calculate moment of inerta for simple shapes /** @todo TODO: add MomentOfInertia tensor formulas */ diff --git a/Code/OysterPhysics3D/RigidBody.cpp b/Code/OysterPhysics3D/RigidBody.cpp index eed27b52..538fb1e6 100644 --- a/Code/OysterPhysics3D/RigidBody.cpp +++ b/Code/OysterPhysics3D/RigidBody.cpp @@ -16,6 +16,8 @@ RigidBody::RigidBody( const Box &b, Float m, const Float4x4 &inertiaTensor ) this->linearMomentum = Float3::null; this->impulseTorqueSum = Float3::null; this->impulseForceSum = Float3::null; + this->restitutionCoeff = 1.0f; + this->frictionCoeff = 1.0f; if( m != 0.0f ) { @@ -43,6 +45,8 @@ RigidBody & RigidBody::operator = ( const RigidBody &body ) this->linearMomentum = body.linearMomentum; this->impulseTorqueSum = body.impulseTorqueSum; this->impulseForceSum = body.impulseForceSum; + this->restitutionCoeff = body.restitutionCoeff; + this->frictionCoeff = body.frictionCoeff; this->mass = body.mass; this->momentOfInertiaTensor = body.momentOfInertiaTensor; return *this; diff --git a/Code/OysterPhysics3D/RigidBody.h b/Code/OysterPhysics3D/RigidBody.h index 81c92ae0..1ac632d7 100644 --- a/Code/OysterPhysics3D/RigidBody.h +++ b/Code/OysterPhysics3D/RigidBody.h @@ -19,6 +19,7 @@ namespace Oyster { namespace Physics3D linearMomentum, /** The linear momentum G (kg*m/s). (worldValue) */ impulseTorqueSum, /** The impulse torque T (Nm) that will be consumed each update. (worldValue) */ impulseForceSum; /** The impulse force F (N) that will be consumed each update. (worldValue) */ + ::Oyster::Math::Float restitutionCoeff, frictionCoeff; RigidBody( const ::Oyster::Collision3D::Box &box = ::Oyster::Collision3D::Box(), ::Oyster::Math::Float mass = 12.0f, From 09e55ddc3065bfb82c8b30c06a365d8a5fb41fbe Mon Sep 17 00:00:00 2001 From: Dander7BD Date: Wed, 18 Dec 2013 14:49:47 +0100 Subject: [PATCH 18/42] SimpleRigidBody::GetNormalAt Done implemented by using RayVsPlane tests --- .../Implementation/SimpleRigidBody.cpp | 48 ++++++++++++++++++- 1 file changed, 46 insertions(+), 2 deletions(-) diff --git a/Code/GamePhysics/Implementation/SimpleRigidBody.cpp b/Code/GamePhysics/Implementation/SimpleRigidBody.cpp index 0399d5de..b0c8acce 100644 --- a/Code/GamePhysics/Implementation/SimpleRigidBody.cpp +++ b/Code/GamePhysics/Implementation/SimpleRigidBody.cpp @@ -97,8 +97,52 @@ Sphere & SimpleRigidBody::GetBoundingSphere( Sphere &targetMem ) const Float4 & SimpleRigidBody::GetNormalAt( const Float4 &worldPos, Float4 &targetMem ) const { - //! @todo TODO: better implementation needed - return targetMem = (worldPos - this->rigid.box.center).GetNormalized(); + Float4 offset = worldPos - this->rigid.box.center; + Float distance = offset.Dot( offset ); + Float3 normal = Float3::standard_unit_z; + + if( distance != 0.0f ) + { + Ray ray( Float4::standard_unit_w, offset / (Float)::std::sqrt(distance) ); + Float minDistance = numeric_limits::max(); + + if( ray.Intersects(Plane(this->rigid.box.xAxis, this->rigid.box.boundingOffset.x)) ) + { // check along x-axis + if( ray.collisionDistance < 0.0f ) + normal = -this->rigid.box.xAxis.xyz; + else + normal = this->rigid.box.xAxis.xyz; + + minDistance = Abs( ray.collisionDistance ); + } + + if( ray.Intersects(Plane(this->rigid.box.yAxis, this->rigid.box.boundingOffset.y)) ) + { // check along y-axis + distance = Abs( ray.collisionDistance ); // recycling memory + if( minDistance > distance ) + { + if( ray.collisionDistance < 0.0f ) + normal = -this->rigid.box.yAxis.xyz; + else + normal = this->rigid.box.yAxis.xyz; + + minDistance = distance; + } + } + + if( ray.Intersects(Plane(this->rigid.box.zAxis, this->rigid.box.boundingOffset.z)) ) + { // check along z-axis + if( minDistance > Abs( ray.collisionDistance ) ) + { + if( ray.collisionDistance < 0.0f ) + normal = -this->rigid.box.zAxis.xyz; + else + normal = this->rigid.box.zAxis.xyz; + } + } + } + targetMem.xyz = normal; + return targetMem; } Float3 & SimpleRigidBody::GetGravityNormal( Float3 &targetMem ) const From 56dec6cf5df6919a31148789d1bfd71bbaf1a353 Mon Sep 17 00:00:00 2001 From: Robin Engman Date: Thu, 19 Dec 2013 08:34:16 +0100 Subject: [PATCH 19/42] Added "alpha" friction Alpha means that the friction is not tested and most likely needs tweaking. --- .../Implementation/PhysicsAPI_Impl.cpp | 39 ++++++++++++++++--- 1 file changed, 33 insertions(+), 6 deletions(-) diff --git a/Code/GamePhysics/Implementation/PhysicsAPI_Impl.cpp b/Code/GamePhysics/Implementation/PhysicsAPI_Impl.cpp index b439ce03..9ede391d 100644 --- a/Code/GamePhysics/Implementation/PhysicsAPI_Impl.cpp +++ b/Code/GamePhysics/Implementation/PhysicsAPI_Impl.cpp @@ -38,12 +38,37 @@ namespace deuterG_Magnitude = deuterG.Dot( normal ); // bounce - Float4 sumJ = normal * Formula::CollisionResponse::Impulse( deuterState.GetRestitutionCoeff(), + Float impulse = Formula::CollisionResponse::Impulse( deuterState.GetRestitutionCoeff(), deuterState.GetMass(), deuterG_Magnitude, - protoState.GetMass(), protoG_Magnitude ); + protoState.GetMass(), protoG_Magnitude );; + Float4 sumJ = normal*impulse; + + // FRICTION + // Relative momentum after normal impulse + Float4 relativeMomentum = deuterState.GetLinearMomentum() - protoState.GetLinearMomentum(); - // @todo TODO: friction - // sumJ -= ; + Float4 tanFriction = relativeMomentum - relativeMomentum.Dot(normal)*normal; + tanFriction.Normalize(); + + Float magnitudeFriction = -relativeMomentum.Dot(tanFriction); + magnitudeFriction = magnitudeFriction/( 1/protoState.GetMass() + 1/deuterState.GetMass() ); + + float mu = 0.5f; + + Float4 frictionImpulse; + if( abs(magnitudeFriction) < impulse*mu ) + { + frictionImpulse = magnitudeFriction*tanFriction; + } + else + { + Float dynamicFriction = 0.5f; + frictionImpulse = -impulse*tanFriction*dynamicFriction; + } + + // Apply + sumJ -= ( 1 / protoState.GetMass() )*frictionImpulse; + // FRICTION END // calc from perspective of proto proto->GetNormalAt( worldPointOfContact, normal ); @@ -54,8 +79,10 @@ namespace sumJ += normal * Formula::CollisionResponse::Impulse( protoState.GetRestitutionCoeff(), protoState.GetMass(), protoG_Magnitude, deuterState.GetMass(), deuterG_Magnitude ); - // @todo TODO: friction - // sumJ += ; + // FRICTION + // Apply + //sumJ += ( 1 / deuterState.GetMass() )*frictionImpulse; + // FRICTION END protoState.ApplyImpulse( sumJ, worldPointOfContact, normal ); proto->SetState( protoState ); From 9cee69edd63146e7f86a6311976b53dd2874874d Mon Sep 17 00:00:00 2001 From: Dander7BD Date: Thu, 19 Dec 2013 10:03:56 +0100 Subject: [PATCH 20/42] Extended friction content of the ICustomBody::State struct --- .../Implementation/SimpleRigidBody.cpp | 12 +++++----- .../Implementation/SphericalRigidBody.cpp | 6 +++-- Code/GamePhysics/PhysicsStructs-Impl.h | 22 +++++++++++++------ Code/GamePhysics/PhysicsStructs.h | 10 +++++---- Code/OysterPhysics3D/RigidBody.cpp | 6 +++-- Code/OysterPhysics3D/RigidBody.h | 2 +- 6 files changed, 37 insertions(+), 21 deletions(-) diff --git a/Code/GamePhysics/Implementation/SimpleRigidBody.cpp b/Code/GamePhysics/Implementation/SimpleRigidBody.cpp index b0c8acce..16d7113d 100644 --- a/Code/GamePhysics/Implementation/SimpleRigidBody.cpp +++ b/Code/GamePhysics/Implementation/SimpleRigidBody.cpp @@ -44,7 +44,8 @@ UniquePointer SimpleRigidBody::Clone() const SimpleRigidBody::State SimpleRigidBody::GetState() const { - return State( this->rigid.GetMass(), this->rigid.restitutionCoeff, this->rigid.frictionCoeff, + return State( this->rigid.GetMass(), this->rigid.restitutionCoeff, + this->rigid.frictionCoeff_Static, this->rigid.frictionCoeff_Kinetic, this->rigid.GetMomentOfInertia(), this->rigid.box.boundingOffset, this->rigid.box.center, AngularAxis(this->rigid.box.rotation), Float4(this->rigid.linearMomentum, 0.0f), Float4(this->rigid.angularMomentum, 0.0f) ); @@ -52,10 +53,11 @@ SimpleRigidBody::State SimpleRigidBody::GetState() const SimpleRigidBody::State & SimpleRigidBody::GetState( SimpleRigidBody::State &targetMem ) const { - return targetMem = State( this->rigid.GetMass(), this->rigid.restitutionCoeff, this->rigid.frictionCoeff, - this->rigid.GetMomentOfInertia(), this->rigid.box.boundingOffset, - this->rigid.box.center, AngularAxis(this->rigid.box.rotation), - Float4(this->rigid.linearMomentum, 0.0f), Float4(this->rigid.angularMomentum, 0.0f) ); + return targetMem = State( this->rigid.GetMass(), this->rigid.restitutionCoeff, + this->rigid.frictionCoeff_Static, this->rigid.frictionCoeff_Kinetic, + this->rigid.GetMomentOfInertia(), this->rigid.box.boundingOffset, + this->rigid.box.center, AngularAxis(this->rigid.box.rotation), + Float4(this->rigid.linearMomentum, 0.0f), Float4(this->rigid.angularMomentum, 0.0f) ); } void SimpleRigidBody::SetState( const SimpleRigidBody::State &state ) diff --git a/Code/GamePhysics/Implementation/SphericalRigidBody.cpp b/Code/GamePhysics/Implementation/SphericalRigidBody.cpp index d7154f2f..a3ccfa77 100644 --- a/Code/GamePhysics/Implementation/SphericalRigidBody.cpp +++ b/Code/GamePhysics/Implementation/SphericalRigidBody.cpp @@ -46,7 +46,8 @@ UniquePointer SphericalRigidBody::Clone() const SphericalRigidBody::State SphericalRigidBody::GetState() const { - return State( this->rigid.GetMass(), this->rigid.restitutionCoeff, this->rigid.frictionCoeff, + return State( this->rigid.GetMass(), this->rigid.restitutionCoeff, + this->rigid.frictionCoeff_Static, this->rigid.frictionCoeff_Kinetic, this->rigid.GetMomentOfInertia(), this->rigid.box.boundingOffset, this->rigid.box.center, AngularAxis(this->rigid.box.rotation), Float4(this->rigid.linearMomentum, 0.0f), Float4(this->rigid.angularMomentum, 0.0f) ); @@ -54,7 +55,8 @@ SphericalRigidBody::State SphericalRigidBody::GetState() const SphericalRigidBody::State & SphericalRigidBody::GetState( SphericalRigidBody::State &targetMem ) const { - return targetMem = State( this->rigid.GetMass(), this->rigid.restitutionCoeff, this->rigid.frictionCoeff, + return targetMem = State( this->rigid.GetMass(), this->rigid.restitutionCoeff, + this->rigid.frictionCoeff_Static, this->rigid.frictionCoeff_Kinetic, this->rigid.GetMomentOfInertia(), this->rigid.box.boundingOffset, this->rigid.box.center, AngularAxis(this->rigid.box.rotation), Float4(this->rigid.linearMomentum, 0.0f), Float4(this->rigid.angularMomentum, 0.0f) ); diff --git a/Code/GamePhysics/PhysicsStructs-Impl.h b/Code/GamePhysics/PhysicsStructs-Impl.h index d13fdd80..8a75b0bf 100644 --- a/Code/GamePhysics/PhysicsStructs-Impl.h +++ b/Code/GamePhysics/PhysicsStructs-Impl.h @@ -28,11 +28,12 @@ namespace Oyster { namespace Physics this->ignoreGravity = false; } - inline CustomBodyState::CustomBodyState( ::Oyster::Math::Float mass, ::Oyster::Math::Float restitutionCoeff, ::Oyster::Math::Float frictionCoeff, const ::Oyster::Math::Float4x4 &inertiaTensor, const ::Oyster::Math::Float4 &reach, const ::Oyster::Math::Float4 ¢erPos, 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::Math::Float4x4 &inertiaTensor, const ::Oyster::Math::Float4 &reach, const ::Oyster::Math::Float4 ¢erPos, const ::Oyster::Math::Float4 &rotation, const ::Oyster::Math::Float4 &linearMomentum, const ::Oyster::Math::Float4 &angularMomentum ) { this->mass = mass; this->restitutionCoeff = restitutionCoeff; - this->frictionCoeff = frictionCoeff; + this->staticFrictionCoeff = staticFrictionCoeff; + this->kineticFrictionCoeff = kineticFrictionCoeff; this->inertiaTensor = inertiaTensor; this->reach = ::Oyster::Math::Float4( reach.xyz, 0.0f ); this->centerPos = ::Oyster::Math::Float4( centerPos.xyz, 1.0f ); @@ -47,7 +48,8 @@ namespace Oyster { namespace Physics { this->mass = state.mass; this->restitutionCoeff = state.restitutionCoeff; - this->frictionCoeff = state.frictionCoeff; + this->staticFrictionCoeff = state.staticFrictionCoeff; + this->kineticFrictionCoeff = state.kineticFrictionCoeff; this->inertiaTensor = state.inertiaTensor; this->reach = state.reach; this->centerPos = state.centerPos; @@ -71,9 +73,14 @@ namespace Oyster { namespace Physics return this->restitutionCoeff; } - inline const ::Oyster::Math::Float CustomBodyState::GetFrictionCoeff() const + inline const ::Oyster::Math::Float CustomBodyState::GetFrictionCoeff_Static() const { - return this->frictionCoeff; + return this->staticFrictionCoeff; + } + + inline const ::Oyster::Math::Float CustomBodyState::GetFrictionCoeff_Kinetic() const + { + return this->kineticFrictionCoeff; } inline const ::Oyster::Math::Float4x4 & CustomBodyState::GetMomentOfInertia() const @@ -163,9 +170,10 @@ namespace Oyster { namespace Physics this->restitutionCoeff = e; } - inline void CustomBodyState::SetFrictionCoeff( ::Oyster::Math::Float u ) + inline void CustomBodyState::SetFrictionCoeff( ::Oyster::Math::Float staticU, ::Oyster::Math::Float kineticU ) { - this->frictionCoeff = u; + this->staticFrictionCoeff = staticU; + this->kineticFrictionCoeff = kineticU; } inline void CustomBodyState::SetMomentOfInertia_KeepMomentum( const ::Oyster::Math::Float4x4 &tensor ) diff --git a/Code/GamePhysics/PhysicsStructs.h b/Code/GamePhysics/PhysicsStructs.h index ce2b40cb..96ec1f14 100644 --- a/Code/GamePhysics/PhysicsStructs.h +++ b/Code/GamePhysics/PhysicsStructs.h @@ -38,7 +38,8 @@ namespace Oyster { namespace Physics public: CustomBodyState( ::Oyster::Math::Float mass = 1.0f, ::Oyster::Math::Float restitutionCoeff = 1.0f, - ::Oyster::Math::Float frictionCoeff = 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 ¢erPos = ::Oyster::Math::Float4::standard_unit_w, @@ -50,7 +51,8 @@ namespace Oyster { namespace Physics const ::Oyster::Math::Float GetMass() const; const ::Oyster::Math::Float GetRestitutionCoeff() const; - const ::Oyster::Math::Float GetFrictionCoeff() 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; @@ -68,7 +70,7 @@ namespace Oyster { namespace Physics 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 u ); + 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 ); @@ -93,7 +95,7 @@ namespace Oyster { namespace Physics bool IsDisturbed() const; private: - ::Oyster::Math::Float mass, restitutionCoeff, frictionCoeff; + ::Oyster::Math::Float mass, restitutionCoeff, staticFrictionCoeff, kineticFrictionCoeff; ::Oyster::Math::Float4x4 inertiaTensor; ::Oyster::Math::Float4 reach, centerPos, angularAxis; ::Oyster::Math::Float4 linearMomentum, angularMomentum; diff --git a/Code/OysterPhysics3D/RigidBody.cpp b/Code/OysterPhysics3D/RigidBody.cpp index 538fb1e6..cebf3747 100644 --- a/Code/OysterPhysics3D/RigidBody.cpp +++ b/Code/OysterPhysics3D/RigidBody.cpp @@ -17,7 +17,8 @@ RigidBody::RigidBody( const Box &b, Float m, const Float4x4 &inertiaTensor ) this->impulseTorqueSum = Float3::null; this->impulseForceSum = Float3::null; this->restitutionCoeff = 1.0f; - this->frictionCoeff = 1.0f; + this->frictionCoeff_Static = 1.0f; + this->frictionCoeff_Kinetic = 1.0f; if( m != 0.0f ) { @@ -46,7 +47,8 @@ RigidBody & RigidBody::operator = ( const RigidBody &body ) this->impulseTorqueSum = body.impulseTorqueSum; this->impulseForceSum = body.impulseForceSum; this->restitutionCoeff = body.restitutionCoeff; - this->frictionCoeff = body.frictionCoeff; + this->frictionCoeff_Static = body.frictionCoeff_Static; + this->frictionCoeff_Kinetic = body.frictionCoeff_Kinetic; this->mass = body.mass; this->momentOfInertiaTensor = body.momentOfInertiaTensor; return *this; diff --git a/Code/OysterPhysics3D/RigidBody.h b/Code/OysterPhysics3D/RigidBody.h index 1ac632d7..fae7b842 100644 --- a/Code/OysterPhysics3D/RigidBody.h +++ b/Code/OysterPhysics3D/RigidBody.h @@ -19,7 +19,7 @@ namespace Oyster { namespace Physics3D linearMomentum, /** The linear momentum G (kg*m/s). (worldValue) */ impulseTorqueSum, /** The impulse torque T (Nm) that will be consumed each update. (worldValue) */ impulseForceSum; /** The impulse force F (N) that will be consumed each update. (worldValue) */ - ::Oyster::Math::Float restitutionCoeff, frictionCoeff; + ::Oyster::Math::Float restitutionCoeff, frictionCoeff_Static, frictionCoeff_Kinetic; RigidBody( const ::Oyster::Collision3D::Box &box = ::Oyster::Collision3D::Box(), ::Oyster::Math::Float mass = 12.0f, From 59d5a3dc1ebea1aa8bc6b78eef06d1d17d9fd30e Mon Sep 17 00:00:00 2001 From: Robin Engman Date: Thu, 19 Dec 2013 10:15:32 +0100 Subject: [PATCH 21/42] Created function for friction --- .../Implementation/PhysicsAPI_Impl.cpp | 31 +++---------------- Code/GamePhysics/PhysicsFormula-Impl.h | 28 +++++++++++++++++ Code/GamePhysics/PhysicsFormula.h | 7 +++++ 3 files changed, 40 insertions(+), 26 deletions(-) diff --git a/Code/GamePhysics/Implementation/PhysicsAPI_Impl.cpp b/Code/GamePhysics/Implementation/PhysicsAPI_Impl.cpp index 9ede391d..9d30a7e4 100644 --- a/Code/GamePhysics/Implementation/PhysicsAPI_Impl.cpp +++ b/Code/GamePhysics/Implementation/PhysicsAPI_Impl.cpp @@ -7,6 +7,7 @@ using namespace ::Oyster::Physics; using namespace ::Oyster::Math; using namespace ::Oyster::Collision3D; using namespace ::Utility::DynamicMemory; +using namespace ::Utility::Value; API_Impl API_instance; @@ -43,32 +44,10 @@ namespace protoState.GetMass(), protoG_Magnitude );; Float4 sumJ = normal*impulse; - // FRICTION - // Relative momentum after normal impulse - Float4 relativeMomentum = deuterState.GetLinearMomentum() - protoState.GetLinearMomentum(); - - Float4 tanFriction = relativeMomentum - relativeMomentum.Dot(normal)*normal; - tanFriction.Normalize(); - - Float magnitudeFriction = -relativeMomentum.Dot(tanFriction); - magnitudeFriction = magnitudeFriction/( 1/protoState.GetMass() + 1/deuterState.GetMass() ); - - float mu = 0.5f; - - Float4 frictionImpulse; - if( abs(magnitudeFriction) < impulse*mu ) - { - frictionImpulse = magnitudeFriction*tanFriction; - } - else - { - Float dynamicFriction = 0.5f; - frictionImpulse = -impulse*tanFriction*dynamicFriction; - } - - // Apply - sumJ -= ( 1 / protoState.GetMass() )*frictionImpulse; - // FRICTION END + sumJ -= Formula::CollisionResponse::Friction( impulse, normal, protoState.GetLinearMomentum(), + protoState.GetFrictionCoeff(), 0.2f, protoState.GetMass(), + deuterState.GetLinearMomentum(), deuterState.GetFrictionCoeff(), + 0.2f, deuterState.GetMass()); // calc from perspective of proto proto->GetNormalAt( worldPointOfContact, normal ); diff --git a/Code/GamePhysics/PhysicsFormula-Impl.h b/Code/GamePhysics/PhysicsFormula-Impl.h index c0d4ed64..4cb7b5ef 100644 --- a/Code/GamePhysics/PhysicsFormula-Impl.h +++ b/Code/GamePhysics/PhysicsFormula-Impl.h @@ -40,6 +40,34 @@ namespace Oyster { namespace Physics { namespace Formula { return (e + 1) * (mB*gA - mA*gB) / (mA + mB); } + + inline ::Oyster::Math::Float4 Friction( ::Oyster::Math::Float i, ::Oyster::Math::Float4 iN, ::Oyster::Math::Float4 momA, ::Oyster::Math::Float sFA, ::Oyster::Math::Float dFA, ::Oyster::Math::Float mA, ::Oyster::Math::Float4 momB, ::Oyster::Math::Float sFB, ::Oyster::Math::Float dFB, ::Oyster::Math::Float mB ) + { + // FRICTION + // Relative momentum after normal impulse + ::Oyster::Math::Float4 relativeMomentum = momB - momA; + + ::Oyster::Math::Float4 tanFriction = relativeMomentum - relativeMomentum.Dot( iN )*iN; + tanFriction.Normalize(); + + ::Oyster::Math::Float magnitudeFriction = -relativeMomentum.Dot( tanFriction ); + magnitudeFriction = magnitudeFriction*mA*mB/( mA + mB ); + + ::Oyster::Math::Float mu = 0.5f*( sFA + sFB ); + + ::Oyster::Math::Float4 frictionImpulse; + if( abs(magnitudeFriction) < i*mu ) + { + frictionImpulse = magnitudeFriction*tanFriction; + } + else + { + ::Oyster::Math::Float dynamicFriction = 0.5f*( dFA + dFB ); + frictionImpulse = -i*tanFriction*dynamicFriction; + } + + return ( 1 / mA )*frictionImpulse; + } } } } } diff --git a/Code/GamePhysics/PhysicsFormula.h b/Code/GamePhysics/PhysicsFormula.h index c15d8078..a8fea658 100644 --- a/Code/GamePhysics/PhysicsFormula.h +++ b/Code/GamePhysics/PhysicsFormula.h @@ -20,6 +20,13 @@ namespace Oyster { namespace Physics { namespace Formula ::Oyster::Math::Float Impulse( ::Oyster::Math::Float coeffOfRestitution, ::Oyster::Math::Float massA, ::Oyster::Math::Float momentumA, ::Oyster::Math::Float massB, ::Oyster::Math::Float momentumB ); + + ::Oyster::Math::Float4 Friction( ::Oyster::Math::Float impulse, ::Oyster::Math::Float4 impulseNormal, + ::Oyster::Math::Float4 momentumA, ::Oyster::Math::Float staticFrictionA, + ::Oyster::Math::Float dynamicFrictionA, ::Oyster::Math::Float massA, + ::Oyster::Math::Float4 momentumB, ::Oyster::Math::Float staticFrictionB, + ::Oyster::Math::Float dynamicFrictionB, ::Oyster::Math::Float massB ); + } } } } From 42418257cb0c122af17c4d4c91c34a4da19adb6d Mon Sep 17 00:00:00 2001 From: Dander7BD Date: Thu, 19 Dec 2013 10:53:55 +0100 Subject: [PATCH 22/42] CustomBodies now aware of it's scene + other minor changes --- Code/GamePhysics/Implementation/Octree.cpp | 1 + .../Implementation/PhysicsAPI_Impl.cpp | 7 ++-- .../Implementation/SimpleRigidBody.cpp | 30 ++++++++++++++++- .../Implementation/SimpleRigidBody.h | 3 ++ .../Implementation/SphericalRigidBody.cpp | 32 +++++++++++++++++-- .../Implementation/SphericalRigidBody.h | 3 ++ Code/GamePhysics/PhysicsAPI.h | 7 ++++ 7 files changed, 76 insertions(+), 7 deletions(-) diff --git a/Code/GamePhysics/Implementation/Octree.cpp b/Code/GamePhysics/Implementation/Octree.cpp index b841b49d..a1ccdbd8 100644 --- a/Code/GamePhysics/Implementation/Octree.cpp +++ b/Code/GamePhysics/Implementation/Octree.cpp @@ -31,6 +31,7 @@ Octree& Octree::operator=(const Octree& orig) void Octree::AddObject(UniquePointer< ICustomBody > customBodyRef) { + customBodyRef->SetScene( this ); Data data; //Data* tempPtr = this->worldNode.dataPtr; diff --git a/Code/GamePhysics/Implementation/PhysicsAPI_Impl.cpp b/Code/GamePhysics/Implementation/PhysicsAPI_Impl.cpp index 9d30a7e4..24d46d0b 100644 --- a/Code/GamePhysics/Implementation/PhysicsAPI_Impl.cpp +++ b/Code/GamePhysics/Implementation/PhysicsAPI_Impl.cpp @@ -44,10 +44,9 @@ namespace protoState.GetMass(), protoG_Magnitude );; Float4 sumJ = normal*impulse; - sumJ -= Formula::CollisionResponse::Friction( impulse, normal, protoState.GetLinearMomentum(), - protoState.GetFrictionCoeff(), 0.2f, protoState.GetMass(), - deuterState.GetLinearMomentum(), deuterState.GetFrictionCoeff(), - 0.2f, deuterState.GetMass()); + 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 ); diff --git a/Code/GamePhysics/Implementation/SimpleRigidBody.cpp b/Code/GamePhysics/Implementation/SimpleRigidBody.cpp index 16d7113d..dff17bac 100644 --- a/Code/GamePhysics/Implementation/SimpleRigidBody.cpp +++ b/Code/GamePhysics/Implementation/SimpleRigidBody.cpp @@ -14,6 +14,7 @@ SimpleRigidBody::SimpleRigidBody() this->gravityNormal = Float3::null; this->collisionAction = Default::EventAction_Collision; this->ignoreGravity = false; + this->scene = nullptr; } SimpleRigidBody::SimpleRigidBody( const API::SimpleBodyDescription &desc ) @@ -33,6 +34,7 @@ SimpleRigidBody::SimpleRigidBody( const API::SimpleBodyDescription &desc ) } this->ignoreGravity = desc.ignoreGravity; + this->scene = nullptr; } SimpleRigidBody::~SimpleRigidBody() {} @@ -61,10 +63,31 @@ SimpleRigidBody::State & SimpleRigidBody::GetState( SimpleRigidBody::State &targ } void SimpleRigidBody::SetState( const SimpleRigidBody::State &state ) -{ /** @todo TODO: temporary solution! Need to know it's occtree */ +{ this->rigid.box.boundingOffset = state.GetReach(); this->rigid.box.center = state.GetCenterPosition(); this->rigid.box.rotation = state.GetRotation(); + this->rigid.angularMomentum = state.GetAngularMomentum().xyz; + this->rigid.linearMomentum = state.GetLinearMomentum().xyz; + this->rigid.impulseTorqueSum += state.GetAngularImpulse().xyz; + this->rigid.impulseForceSum += state.GetLinearImpulse().xyz; + this->rigid.restitutionCoeff = state.GetRestitutionCoeff(); + this->rigid.frictionCoeff_Static = state.GetFrictionCoeff_Static(); + this->rigid.frictionCoeff_Kinetic = state.GetFrictionCoeff_Kinetic(); + + if( this->scene ) + { + if( state.IsSpatiallyAltered() ) + { + unsigned int tempRef = this->scene->GetTemporaryReferenceOf( this ); + this->scene->SetAsAltered( tempRef ); + this->scene->EvaluatePosition( tempRef ); + } + else if( state.IsDisturbed() ) + { + this->scene->SetAsAltered( this->scene->GetTemporaryReferenceOf(this) ); + } + } } ICustomBody::SubscriptMessage SimpleRigidBody::CallSubscription( const ICustomBody *proto, const ICustomBody *deuter ) @@ -187,6 +210,11 @@ UpdateState SimpleRigidBody::Update( Float timeStepLength ) return UpdateState_altered; } +void SimpleRigidBody::SetScene( void *scene ) +{ + this->scene = (Octree*)scene; +} + void SimpleRigidBody::SetSubscription( ICustomBody::EventAction_Collision functionPointer ) { if( functionPointer ) diff --git a/Code/GamePhysics/Implementation/SimpleRigidBody.h b/Code/GamePhysics/Implementation/SimpleRigidBody.h index c314d09d..3929669b 100644 --- a/Code/GamePhysics/Implementation/SimpleRigidBody.h +++ b/Code/GamePhysics/Implementation/SimpleRigidBody.h @@ -3,6 +3,7 @@ #include "..\PhysicsAPI.h" #include "RigidBody.h" +#include "Octree.h" namespace Oyster { namespace Physics { @@ -36,6 +37,7 @@ namespace Oyster { namespace Physics UpdateState Update( ::Oyster::Math::Float timeStepLength ); + void SetScene( void *scene ); void SetSubscription( EventAction_Collision functionPointer ); void SetGravity( bool ignore); void SetGravityNormal( const ::Oyster::Math::Float3 &normalizedVector ); @@ -53,6 +55,7 @@ namespace Oyster { namespace Physics ::Oyster::Physics3D::RigidBody rigid; ::Oyster::Math::Float3 gravityNormal; EventAction_Collision collisionAction; + Octree *scene; bool ignoreGravity; }; } } diff --git a/Code/GamePhysics/Implementation/SphericalRigidBody.cpp b/Code/GamePhysics/Implementation/SphericalRigidBody.cpp index a3ccfa77..9dcfaa32 100644 --- a/Code/GamePhysics/Implementation/SphericalRigidBody.cpp +++ b/Code/GamePhysics/Implementation/SphericalRigidBody.cpp @@ -14,6 +14,7 @@ SphericalRigidBody::SphericalRigidBody() this->gravityNormal = Float3::null; this->collisionAction = Default::EventAction_Collision; this->ignoreGravity = false; + this->scene = nullptr; this->body = Sphere( Float3::null, 0.5f ); } @@ -34,6 +35,7 @@ SphericalRigidBody::SphericalRigidBody( const API::SphericalBodyDescription &des } this->ignoreGravity = desc.ignoreGravity; + this->scene = nullptr; this->body = Sphere( desc.centerPosition, desc.radius ); } @@ -63,10 +65,31 @@ SphericalRigidBody::State & SphericalRigidBody::GetState( SphericalRigidBody::St } void SphericalRigidBody::SetState( const SphericalRigidBody::State &state ) -{ /** @todo TODO: temporary solution! Need to know it's occtree */ +{ this->rigid.box.boundingOffset = state.GetReach(); this->rigid.box.center = state.GetCenterPosition(); this->rigid.box.rotation = state.GetRotation(); + this->rigid.angularMomentum = state.GetAngularMomentum().xyz; + this->rigid.linearMomentum = state.GetLinearMomentum().xyz; + this->rigid.impulseTorqueSum += state.GetAngularImpulse().xyz; + this->rigid.impulseForceSum += state.GetLinearImpulse().xyz; + this->rigid.restitutionCoeff = state.GetRestitutionCoeff(); + this->rigid.frictionCoeff_Static = state.GetFrictionCoeff_Static(); + this->rigid.frictionCoeff_Kinetic = state.GetFrictionCoeff_Kinetic(); + + if( this->scene ) + { + if( state.IsSpatiallyAltered() ) + { + unsigned int tempRef = this->scene->GetTemporaryReferenceOf( this ); + this->scene->SetAsAltered( tempRef ); + this->scene->EvaluatePosition( tempRef ); + } + else if( state.IsDisturbed() ) + { + this->scene->SetAsAltered( this->scene->GetTemporaryReferenceOf(this) ); + } + } } ICustomBody::SubscriptMessage SphericalRigidBody::CallSubscription( const ICustomBody *proto, const ICustomBody *deuter ) @@ -156,7 +179,12 @@ void SphericalRigidBody::SetSubscription( ICustomBody::EventAction_Collision fun } } -void SphericalRigidBody::SetGravity( bool ignore) +void SphericalRigidBody::SetScene( void *scene ) +{ + this->scene = (Octree*)scene; +} + +void SphericalRigidBody::SetGravity( bool ignore ) { this->ignoreGravity = ignore; this->gravityNormal = Float3::null; diff --git a/Code/GamePhysics/Implementation/SphericalRigidBody.h b/Code/GamePhysics/Implementation/SphericalRigidBody.h index 3136f4e7..4c2d74e5 100644 --- a/Code/GamePhysics/Implementation/SphericalRigidBody.h +++ b/Code/GamePhysics/Implementation/SphericalRigidBody.h @@ -4,6 +4,7 @@ #include "..\PhysicsAPI.h" #include "RigidBody.h" #include "Sphere.h" +#include "Octree.h" namespace Oyster { namespace Physics { @@ -37,6 +38,7 @@ namespace Oyster { namespace Physics UpdateState Update( ::Oyster::Math::Float timeStepLength ); + void SetScene( void *scene ); void SetSubscription( EventAction_Collision functionPointer ); void SetGravity( bool ignore); void SetGravityNormal( const ::Oyster::Math::Float3 &normalizedVector ); @@ -55,6 +57,7 @@ namespace Oyster { namespace Physics ::Oyster::Math::Float3 gravityNormal; EventAction_Collision collisionAction; bool ignoreGravity; + Octree *scene; ::Oyster::Collision3D::Sphere body; }; } } diff --git a/Code/GamePhysics/PhysicsAPI.h b/Code/GamePhysics/PhysicsAPI.h index 945247b0..3e91a103 100644 --- a/Code/GamePhysics/PhysicsAPI.h +++ b/Code/GamePhysics/PhysicsAPI.h @@ -338,6 +338,13 @@ namespace Oyster ********************************************************/ virtual UpdateState Update( ::Oyster::Math::Float timeStepLength ) = 0; + /******************************************************** + * Sets which scene this ICustomBody is within. + * Reserved to only be used by the scene. + * @todo TODO: create an IScene interface + ********************************************************/ + virtual void SetScene( void *scene ) = 0; + /******************************************************** * Sets the function that will be called by the engine * whenever a collision occurs. From 76c83add3d29dfe7d4ce8397854b09c6f6419106 Mon Sep 17 00:00:00 2001 From: Dander7BD Date: Thu, 19 Dec 2013 11:15:49 +0100 Subject: [PATCH 23/42] Added sanity check to SphericalRigidBody::GetNormalAt --- Code/GamePhysics/Implementation/SphericalRigidBody.cpp | 8 +++++++- 1 file changed, 7 insertions(+), 1 deletion(-) diff --git a/Code/GamePhysics/Implementation/SphericalRigidBody.cpp b/Code/GamePhysics/Implementation/SphericalRigidBody.cpp index 9dcfaa32..13a46145 100644 --- a/Code/GamePhysics/Implementation/SphericalRigidBody.cpp +++ b/Code/GamePhysics/Implementation/SphericalRigidBody.cpp @@ -124,7 +124,13 @@ Sphere & SphericalRigidBody::GetBoundingSphere( Sphere &targetMem ) const Float4 & SphericalRigidBody::GetNormalAt( const Float4 &worldPos, Float4 &targetMem ) const { - return targetMem = (worldPos - this->rigid.box.center).GetNormalized(); + targetMem = worldPos - this->rigid.box.center; + Float magnitude = targetMem.GetMagnitude(); + if( magnitude != 0.0f ) + { // sanity check + targetMem.Normalize(); + } + return targetMem; } Float3 & SphericalRigidBody::GetGravityNormal( Float3 &targetMem ) const From 24418603ad9abd12791e7d23d7067ad71188e4dd Mon Sep 17 00:00:00 2001 From: Dander7BD Date: Thu, 19 Dec 2013 11:21:14 +0100 Subject: [PATCH 24/42] ICustomBody::GetNormal returns Float4::null if.. .. no normal can be decided. --- Code/GamePhysics/Implementation/SimpleRigidBody.cpp | 5 +++-- Code/GamePhysics/Implementation/SphericalRigidBody.cpp | 1 + 2 files changed, 4 insertions(+), 2 deletions(-) diff --git a/Code/GamePhysics/Implementation/SimpleRigidBody.cpp b/Code/GamePhysics/Implementation/SimpleRigidBody.cpp index dff17bac..70636708 100644 --- a/Code/GamePhysics/Implementation/SimpleRigidBody.cpp +++ b/Code/GamePhysics/Implementation/SimpleRigidBody.cpp @@ -124,10 +124,10 @@ Float4 & SimpleRigidBody::GetNormalAt( const Float4 &worldPos, Float4 &targetMem { Float4 offset = worldPos - this->rigid.box.center; Float distance = offset.Dot( offset ); - Float3 normal = Float3::standard_unit_z; + Float3 normal = Float3::null; if( distance != 0.0f ) - { + { // sanity check Ray ray( Float4::standard_unit_w, offset / (Float)::std::sqrt(distance) ); Float minDistance = numeric_limits::max(); @@ -167,6 +167,7 @@ Float4 & SimpleRigidBody::GetNormalAt( const Float4 &worldPos, Float4 &targetMem } } targetMem.xyz = normal; + targetMem.w = 0.0f; return targetMem; } diff --git a/Code/GamePhysics/Implementation/SphericalRigidBody.cpp b/Code/GamePhysics/Implementation/SphericalRigidBody.cpp index 13a46145..e31fd0df 100644 --- a/Code/GamePhysics/Implementation/SphericalRigidBody.cpp +++ b/Code/GamePhysics/Implementation/SphericalRigidBody.cpp @@ -130,6 +130,7 @@ Float4 & SphericalRigidBody::GetNormalAt( const Float4 &worldPos, Float4 &target { // sanity check targetMem.Normalize(); } + return targetMem; } From 4e21e2b0c0f1d731dd1388a39b1bffd2392f5641 Mon Sep 17 00:00:00 2001 From: Dander7BD Date: Thu, 19 Dec 2013 11:21:49 +0100 Subject: [PATCH 25/42] Renamed Formula::CollisionResponse::Impulse to.. .. Formula::CollisionResponse::Bounce --- Code/GamePhysics/Implementation/PhysicsAPI_Impl.cpp | 12 ++++++------ Code/GamePhysics/PhysicsFormula-Impl.h | 2 +- Code/GamePhysics/PhysicsFormula.h | 6 +++--- 3 files changed, 10 insertions(+), 10 deletions(-) diff --git a/Code/GamePhysics/Implementation/PhysicsAPI_Impl.cpp b/Code/GamePhysics/Implementation/PhysicsAPI_Impl.cpp index 24d46d0b..f06d3698 100644 --- a/Code/GamePhysics/Implementation/PhysicsAPI_Impl.cpp +++ b/Code/GamePhysics/Implementation/PhysicsAPI_Impl.cpp @@ -39,9 +39,9 @@ namespace deuterG_Magnitude = deuterG.Dot( normal ); // bounce - Float impulse = Formula::CollisionResponse::Impulse( deuterState.GetRestitutionCoeff(), - deuterState.GetMass(), deuterG_Magnitude, - protoState.GetMass(), protoG_Magnitude );; + Float impulse = Formula::CollisionResponse::Bounce( deuterState.GetRestitutionCoeff(), + deuterState.GetMass(), deuterG_Magnitude, + protoState.GetMass(), protoG_Magnitude );; Float4 sumJ = normal*impulse; sumJ -= Formula::CollisionResponse::Friction( impulse, normal, @@ -54,9 +54,9 @@ namespace deuterG_Magnitude = deuterG.Dot( normal ); // bounce - sumJ += normal * Formula::CollisionResponse::Impulse( protoState.GetRestitutionCoeff(), - protoState.GetMass(), protoG_Magnitude, - deuterState.GetMass(), deuterG_Magnitude ); + sumJ += normal * Formula::CollisionResponse::Bounce( protoState.GetRestitutionCoeff(), + protoState.GetMass(), protoG_Magnitude, + deuterState.GetMass(), deuterG_Magnitude ); // FRICTION // Apply //sumJ += ( 1 / deuterState.GetMass() )*frictionImpulse; diff --git a/Code/GamePhysics/PhysicsFormula-Impl.h b/Code/GamePhysics/PhysicsFormula-Impl.h index 4cb7b5ef..6546a856 100644 --- a/Code/GamePhysics/PhysicsFormula-Impl.h +++ b/Code/GamePhysics/PhysicsFormula-Impl.h @@ -36,7 +36,7 @@ namespace Oyster { namespace Physics { namespace Formula namespace CollisionResponse { - inline ::Oyster::Math::Float Impulse( ::Oyster::Math::Float e, ::Oyster::Math::Float mA, ::Oyster::Math::Float gA, ::Oyster::Math::Float mB, ::Oyster::Math::Float gB ) + inline ::Oyster::Math::Float Bounce( ::Oyster::Math::Float e, ::Oyster::Math::Float mA, ::Oyster::Math::Float gA, ::Oyster::Math::Float mB, ::Oyster::Math::Float gB ) { return (e + 1) * (mB*gA - mA*gB) / (mA + mB); } diff --git a/Code/GamePhysics/PhysicsFormula.h b/Code/GamePhysics/PhysicsFormula.h index a8fea658..fe91ae3a 100644 --- a/Code/GamePhysics/PhysicsFormula.h +++ b/Code/GamePhysics/PhysicsFormula.h @@ -17,9 +17,9 @@ namespace Oyster { namespace Physics { namespace Formula namespace CollisionResponse { - ::Oyster::Math::Float Impulse( ::Oyster::Math::Float coeffOfRestitution, - ::Oyster::Math::Float massA, ::Oyster::Math::Float momentumA, - ::Oyster::Math::Float massB, ::Oyster::Math::Float momentumB ); + ::Oyster::Math::Float Bounce( ::Oyster::Math::Float coeffOfRestitution, + ::Oyster::Math::Float massA, ::Oyster::Math::Float momentumA, + ::Oyster::Math::Float massB, ::Oyster::Math::Float momentumB ); ::Oyster::Math::Float4 Friction( ::Oyster::Math::Float impulse, ::Oyster::Math::Float4 impulseNormal, ::Oyster::Math::Float4 momentumA, ::Oyster::Math::Float staticFrictionA, From 4ebb8cd9b83517d33b1d28bafa1fe9fd1ab0ec74 Mon Sep 17 00:00:00 2001 From: Dander7BD Date: Thu, 19 Dec 2013 11:22:20 +0100 Subject: [PATCH 26/42] Minor edit in CustomBodyState --- Code/GamePhysics/PhysicsStructs-Impl.h | 10 +++++----- 1 file changed, 5 insertions(+), 5 deletions(-) diff --git a/Code/GamePhysics/PhysicsStructs-Impl.h b/Code/GamePhysics/PhysicsStructs-Impl.h index 8a75b0bf..e48ede8d 100644 --- a/Code/GamePhysics/PhysicsStructs-Impl.h +++ b/Code/GamePhysics/PhysicsStructs-Impl.h @@ -35,11 +35,11 @@ namespace Oyster { namespace Physics this->staticFrictionCoeff = staticFrictionCoeff; this->kineticFrictionCoeff = kineticFrictionCoeff; this->inertiaTensor = inertiaTensor; - this->reach = ::Oyster::Math::Float4( reach.xyz, 0.0f ); - this->centerPos = ::Oyster::Math::Float4( centerPos.xyz, 1.0f ); - this->angularAxis = ::Oyster::Math::Float4( rotation.xyz, 0.0f ); - this->linearMomentum = ::Oyster::Math::Float4( linearMomentum.xyz, 0.0f ); - this->angularMomentum = ::Oyster::Math::Float4( angularMomentum.xyz, 0.0f ); + this->reach = reach; + this->centerPos = centerPos; + this->angularAxis = rotation; + this->linearMomentum = linearMomentum; + this->angularMomentum = angularMomentum; this->linearImpulse = this->angularImpulse = ::Oyster::Math::Float4::null; this->isSpatiallyAltered = this->isDisturbed = false; } From 840f000ec92571b5583aaa7b605ba0e6bfcd90f9 Mon Sep 17 00:00:00 2001 From: Dander7BD Date: Thu, 19 Dec 2013 11:28:30 +0100 Subject: [PATCH 27/42] Bug fix in API_Impl OnPossibleCollision(...) --- Code/GamePhysics/Implementation/PhysicsAPI_Impl.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/Code/GamePhysics/Implementation/PhysicsAPI_Impl.cpp b/Code/GamePhysics/Implementation/PhysicsAPI_Impl.cpp index f06d3698..e9bfefb0 100644 --- a/Code/GamePhysics/Implementation/PhysicsAPI_Impl.cpp +++ b/Code/GamePhysics/Implementation/PhysicsAPI_Impl.cpp @@ -28,7 +28,7 @@ namespace default: { // Apply CollisionResponse in pure gather pattern ICustomBody::State protoState; proto->GetState( protoState ); - ICustomBody::State deuterState; proto->GetState( deuterState ); + ICustomBody::State deuterState; deuter->GetState( deuterState ); Float4 protoG = protoState.GetLinearMomentum( worldPointOfContact ), deuterG = deuterState.GetLinearMomentum( worldPointOfContact ); From 9b9e549a5e6dfb7072ca7c2c79f4351734c2e694 Mon Sep 17 00:00:00 2001 From: Dander7BD Date: Thu, 19 Dec 2013 11:57:03 +0100 Subject: [PATCH 28/42] bug fix in bool Intersect( const Box &box, const Sphere &sphere, Float4 &worldPointOfContact ) --- Code/OysterPhysics3D/OysterCollision3D.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/Code/OysterPhysics3D/OysterCollision3D.cpp b/Code/OysterPhysics3D/OysterCollision3D.cpp index 00684898..3ef44974 100644 --- a/Code/OysterPhysics3D/OysterCollision3D.cpp +++ b/Code/OysterPhysics3D/OysterCollision3D.cpp @@ -784,9 +784,9 @@ namespace Oyster { namespace Collision3D { namespace Utility if( Intersect(box, sphere) ) { Float distance; - Ray ray( sphere.center, box.center - sphere.center ); + Ray ray( box.center, sphere.center - box.center ); - Intersect( box, ray, distance ); + Intersect( sphere, ray, distance ); worldPointOfContact = ray.origin + ray.direction*distance; return true; } From 461fecd1d2a1b0eeee2c5d3a1a436a3b5d94e28a Mon Sep 17 00:00:00 2001 From: Dander7BD Date: Thu, 19 Dec 2013 14:01:02 +0100 Subject: [PATCH 29/42] Bug fixing SimpleRigidBody::GetNormal returned wrong results. Second bounce impulse in OnPossibleCollision, should be subtracted instead of added. --- .../Implementation/PhysicsAPI_Impl.cpp | 2 +- .../Implementation/SimpleRigidBody.cpp | 53 +++++++++++++++---- 2 files changed, 44 insertions(+), 11 deletions(-) diff --git a/Code/GamePhysics/Implementation/PhysicsAPI_Impl.cpp b/Code/GamePhysics/Implementation/PhysicsAPI_Impl.cpp index e9bfefb0..cc3caf10 100644 --- a/Code/GamePhysics/Implementation/PhysicsAPI_Impl.cpp +++ b/Code/GamePhysics/Implementation/PhysicsAPI_Impl.cpp @@ -54,7 +54,7 @@ namespace deuterG_Magnitude = deuterG.Dot( normal ); // bounce - sumJ += normal * Formula::CollisionResponse::Bounce( protoState.GetRestitutionCoeff(), + sumJ -= normal * Formula::CollisionResponse::Bounce( protoState.GetRestitutionCoeff(), protoState.GetMass(), protoG_Magnitude, deuterState.GetMass(), deuterG_Magnitude ); // FRICTION diff --git a/Code/GamePhysics/Implementation/SimpleRigidBody.cpp b/Code/GamePhysics/Implementation/SimpleRigidBody.cpp index 70636708..5160b4eb 100644 --- a/Code/GamePhysics/Implementation/SimpleRigidBody.cpp +++ b/Code/GamePhysics/Implementation/SimpleRigidBody.cpp @@ -8,6 +8,39 @@ using namespace ::Oyster::Collision3D; using namespace ::Utility::DynamicMemory; using namespace ::Utility::Value; +namespace Private +{ + const Float epsilon = (const Float)1e-20; + + // Float calculations can suffer roundingerrors. Which is where epsilon = 1e-20 comes into the picture + inline bool EqualsZero( const Float &value ) + { // by Dan Andersson + return Abs( value ) < epsilon; + } + + inline bool Contains( const Plane &container, const Float4 &pos ) + { // by Dan Andersson + return EqualsZero( container.normal.Dot( pos ) + container.phasing ); + } + + // revision of Ray Vs Plane intersect test, there ray is more of an axis + bool Intersects( const Ray &axis, const Plane &plane, Float &connectDistance ) + { // by Dan Andersson + Float c = plane.normal.Dot(axis.direction); + if( EqualsZero(c) ) + { // axis is parallell with the plane. (axis direction orthogonal with the planar normal) + connectDistance = 0.0f; + return Contains( plane, axis.origin ); + } + + connectDistance = -plane.phasing; + connectDistance -= plane.normal.Dot( axis.origin ); + connectDistance /= c; + + return true; + } +} + SimpleRigidBody::SimpleRigidBody() { this->rigid = RigidBody( Box(Float4x4::identity, Float3::null, Float3(1.0f)), 16.0f, Float4x4::identity ); @@ -128,25 +161,25 @@ Float4 & SimpleRigidBody::GetNormalAt( const Float4 &worldPos, Float4 &targetMem if( distance != 0.0f ) { // sanity check - Ray ray( Float4::standard_unit_w, offset / (Float)::std::sqrt(distance) ); + Ray axis( Float4::standard_unit_w, offset / (Float)::std::sqrt(distance) ); Float minDistance = numeric_limits::max(); - if( ray.Intersects(Plane(this->rigid.box.xAxis, this->rigid.box.boundingOffset.x)) ) + if( Private::Intersects(axis, Plane(this->rigid.box.xAxis, -this->rigid.box.boundingOffset.x), axis.collisionDistance) ) { // check along x-axis - if( ray.collisionDistance < 0.0f ) + if( axis.collisionDistance < 0.0f ) normal = -this->rigid.box.xAxis.xyz; else normal = this->rigid.box.xAxis.xyz; - minDistance = Abs( ray.collisionDistance ); + minDistance = Abs( axis.collisionDistance ); } - if( ray.Intersects(Plane(this->rigid.box.yAxis, this->rigid.box.boundingOffset.y)) ) + if( Private::Intersects(axis, Plane(this->rigid.box.yAxis, -this->rigid.box.boundingOffset.y), axis.collisionDistance) ) { // check along y-axis - distance = Abs( ray.collisionDistance ); // recycling memory + distance = Abs( axis.collisionDistance ); // recycling memory if( minDistance > distance ) { - if( ray.collisionDistance < 0.0f ) + if( axis.collisionDistance < 0.0f ) normal = -this->rigid.box.yAxis.xyz; else normal = this->rigid.box.yAxis.xyz; @@ -155,11 +188,11 @@ Float4 & SimpleRigidBody::GetNormalAt( const Float4 &worldPos, Float4 &targetMem } } - if( ray.Intersects(Plane(this->rigid.box.zAxis, this->rigid.box.boundingOffset.z)) ) + if( Private::Intersects(axis, Plane(this->rigid.box.zAxis, -this->rigid.box.boundingOffset.z), axis.collisionDistance) ) { // check along z-axis - if( minDistance > Abs( ray.collisionDistance ) ) + if( minDistance > Abs( axis.collisionDistance ) ) { - if( ray.collisionDistance < 0.0f ) + if( axis.collisionDistance < 0.0f ) normal = -this->rigid.box.zAxis.xyz; else normal = this->rigid.box.zAxis.xyz; From ff52977dcfe60cd4e5dadfbb46eaacafac581f56 Mon Sep 17 00:00:00 2001 From: Dander7BD Date: Thu, 19 Dec 2013 17:27:09 +0100 Subject: [PATCH 30/42] Bug fixes including a hack --- .../Implementation/PhysicsAPI_Impl.cpp | 27 ++++++++++--------- Code/GamePhysics/PhysicsFormula-Impl.h | 3 ++- Code/OysterPhysics3D/RigidBody.cpp | 4 +-- 3 files changed, 19 insertions(+), 15 deletions(-) diff --git a/Code/GamePhysics/Implementation/PhysicsAPI_Impl.cpp b/Code/GamePhysics/Implementation/PhysicsAPI_Impl.cpp index cc3caf10..86e5038f 100644 --- a/Code/GamePhysics/Implementation/PhysicsAPI_Impl.cpp +++ b/Code/GamePhysics/Implementation/PhysicsAPI_Impl.cpp @@ -39,14 +39,13 @@ namespace deuterG_Magnitude = deuterG.Dot( normal ); // bounce - Float impulse = Formula::CollisionResponse::Bounce( deuterState.GetRestitutionCoeff(), - deuterState.GetMass(), deuterG_Magnitude, - protoState.GetMass(), protoG_Magnitude );; - Float4 sumJ = normal*impulse; + 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()); + //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 ); @@ -54,18 +53,22 @@ namespace deuterG_Magnitude = deuterG.Dot( normal ); // bounce - sumJ -= normal * Formula::CollisionResponse::Bounce( protoState.GetRestitutionCoeff(), - protoState.GetMass(), protoG_Magnitude, - deuterState.GetMass(), deuterG_Magnitude ); + 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 - protoState.ApplyImpulse( sumJ, worldPointOfContact, normal ); + protoState.ApplyImpulse( bounce, worldPointOfContact, normal ); proto->SetState( protoState ); } - break; + break; } } } diff --git a/Code/GamePhysics/PhysicsFormula-Impl.h b/Code/GamePhysics/PhysicsFormula-Impl.h index 6546a856..323fd732 100644 --- a/Code/GamePhysics/PhysicsFormula-Impl.h +++ b/Code/GamePhysics/PhysicsFormula-Impl.h @@ -38,7 +38,8 @@ namespace Oyster { namespace Physics { namespace Formula { inline ::Oyster::Math::Float Bounce( ::Oyster::Math::Float e, ::Oyster::Math::Float mA, ::Oyster::Math::Float gA, ::Oyster::Math::Float mB, ::Oyster::Math::Float gB ) { - return (e + 1) * (mB*gA - mA*gB) / (mA + mB); + //return (e + 1) * (mB*gA - mA*gB) / (mA + mB); + return (e + 1) * (mA*gB - mB*gA) / (mA + mB); } inline ::Oyster::Math::Float4 Friction( ::Oyster::Math::Float i, ::Oyster::Math::Float4 iN, ::Oyster::Math::Float4 momA, ::Oyster::Math::Float sFA, ::Oyster::Math::Float dFA, ::Oyster::Math::Float mA, ::Oyster::Math::Float4 momB, ::Oyster::Math::Float sFB, ::Oyster::Math::Float dFB, ::Oyster::Math::Float mB ) diff --git a/Code/OysterPhysics3D/RigidBody.cpp b/Code/OysterPhysics3D/RigidBody.cpp index cebf3747..a71884f9 100644 --- a/Code/OysterPhysics3D/RigidBody.cpp +++ b/Code/OysterPhysics3D/RigidBody.cpp @@ -108,13 +108,13 @@ void RigidBody::Update_LeapFrog( Float deltaTime ) // updating the linear // dG = F * dt // ds = dt * Formula::LinearVelocity( m, avg_G ) = dt * avg_G / m = (dt / m) * avg_G - Float3 linearImpulse = this->impulseForceSum * deltaTime; // aka deltaLinearMomentum + Float3 linearImpulse = this->impulseForceSum; // HACK: * deltaTime; // aka deltaLinearMomentum Float3 deltaPos = ( deltaTime / this->mass ) * ::Utility::Value::AverageWithDelta( this->linearMomentum, linearImpulse ); // updating the angular // dH = T * dt // dO = dt * Formula::AngularVelocity( (RI)^-1, avg_H ) = dt * (RI)^-1 * avg_H - Float3 angularImpulse = this->impulseTorqueSum * deltaTime; // aka deltaAngularMomentum + Float3 angularImpulse = this->impulseTorqueSum; // HACK: * deltaTime; // aka deltaAngularMomentum Float3 rotationAxis = Formula::AngularVelocity( wMomentOfInertiaTensor.GetInverse(), ::Utility::Value::AverageWithDelta(this->angularMomentum, angularImpulse) ); From bbc489eac927e97ea1f4b3f6116219769cad9044 Mon Sep 17 00:00:00 2001 From: Dander7BD Date: Thu, 19 Dec 2013 21:39:20 +0100 Subject: [PATCH 31/42] RigidBody improved and Gimbal lock proofed --- .../Implementation/SimpleRigidBody.cpp | 76 ++-- .../Implementation/SphericalRigidBody.cpp | 55 +-- Code/OysterMath/LinearMath.h | 108 +++++ Code/OysterMath/OysterMath.cpp | 55 +++ Code/OysterMath/OysterMath.h | 137 +++--- Code/OysterMath/Quaternion.h | 66 ++- Code/OysterPhysics3D/Box.cpp | 7 + Code/OysterPhysics3D/Box.h | 1 + Code/OysterPhysics3D/OysterPhysics3D.h | 27 ++ Code/OysterPhysics3D/OysterPhysics3D.vcxproj | 1 + .../OysterPhysics3D.vcxproj.filters | 3 + Code/OysterPhysics3D/RigidBody.cpp | 411 +++++------------- Code/OysterPhysics3D/RigidBody.h | 130 ++---- Code/OysterPhysics3D/RigidBody_Inline.h | 65 +++ 14 files changed, 615 insertions(+), 527 deletions(-) create mode 100644 Code/OysterPhysics3D/RigidBody_Inline.h diff --git a/Code/GamePhysics/Implementation/SimpleRigidBody.cpp b/Code/GamePhysics/Implementation/SimpleRigidBody.cpp index 5160b4eb..90df71a1 100644 --- a/Code/GamePhysics/Implementation/SimpleRigidBody.cpp +++ b/Code/GamePhysics/Implementation/SimpleRigidBody.cpp @@ -43,7 +43,8 @@ namespace Private SimpleRigidBody::SimpleRigidBody() { - this->rigid = RigidBody( Box(Float4x4::identity, Float3::null, Float3(1.0f)), 16.0f, Float4x4::identity ); + this->rigid = RigidBody(); + this->rigid.SetMass_KeepMomentum( 16.0f ); this->gravityNormal = Float3::null; this->collisionAction = Default::EventAction_Collision; this->ignoreGravity = false; @@ -52,9 +53,13 @@ SimpleRigidBody::SimpleRigidBody() SimpleRigidBody::SimpleRigidBody( const API::SimpleBodyDescription &desc ) { - this->rigid = RigidBody( Box( desc.rotation, desc.centerPosition.xyz, desc.size.xyz ), - desc.mass, - desc.inertiaTensor ); + this->rigid = RigidBody(); + this->rigid.SetRotation( desc.rotation ); + this->rigid.centerPos = desc.centerPosition; + this->rigid.SetSize( desc.size ); + this->rigid.SetMass_KeepMomentum( desc.mass ); + this->rigid.SetMomentOfInertia_KeepMomentum( desc.inertiaTensor ); + this->gravityNormal = Float3::null; if( desc.subscription ) @@ -81,31 +86,31 @@ SimpleRigidBody::State SimpleRigidBody::GetState() const { return State( this->rigid.GetMass(), this->rigid.restitutionCoeff, this->rigid.frictionCoeff_Static, this->rigid.frictionCoeff_Kinetic, - this->rigid.GetMomentOfInertia(), this->rigid.box.boundingOffset, - this->rigid.box.center, AngularAxis(this->rigid.box.rotation), - Float4(this->rigid.linearMomentum, 0.0f), Float4(this->rigid.angularMomentum, 0.0f) ); + this->rigid.GetMomentOfInertia(), this->rigid.boundingReach, + this->rigid.centerPos, this->rigid.axis, + this->rigid.momentum_Linear, this->rigid.momentum_Angular ); } SimpleRigidBody::State & SimpleRigidBody::GetState( SimpleRigidBody::State &targetMem ) const { return targetMem = State( this->rigid.GetMass(), this->rigid.restitutionCoeff, this->rigid.frictionCoeff_Static, this->rigid.frictionCoeff_Kinetic, - this->rigid.GetMomentOfInertia(), this->rigid.box.boundingOffset, - this->rigid.box.center, AngularAxis(this->rigid.box.rotation), - Float4(this->rigid.linearMomentum, 0.0f), Float4(this->rigid.angularMomentum, 0.0f) ); + this->rigid.GetMomentOfInertia(), this->rigid.boundingReach, + this->rigid.centerPos, this->rigid.axis, + this->rigid.momentum_Linear, this->rigid.momentum_Angular ); } void SimpleRigidBody::SetState( const SimpleRigidBody::State &state ) { - this->rigid.box.boundingOffset = state.GetReach(); - this->rigid.box.center = state.GetCenterPosition(); - this->rigid.box.rotation = state.GetRotation(); - this->rigid.angularMomentum = state.GetAngularMomentum().xyz; - this->rigid.linearMomentum = state.GetLinearMomentum().xyz; - this->rigid.impulseTorqueSum += state.GetAngularImpulse().xyz; - this->rigid.impulseForceSum += state.GetLinearImpulse().xyz; - this->rigid.restitutionCoeff = state.GetRestitutionCoeff(); - this->rigid.frictionCoeff_Static = state.GetFrictionCoeff_Static(); + this->rigid.centerPos = state.GetCenterPosition(); + this->rigid.SetRotation( state.GetRotation() ); + this->rigid.boundingReach = state.GetReach(); + this->rigid.momentum_Linear = state.GetLinearMomentum(); + this->rigid.momentum_Angular = state.GetAngularMomentum(); + this->rigid.impulse_Linear += state.GetLinearImpulse(); + this->rigid.impulse_Angular += state.GetAngularImpulse(); + this->rigid.restitutionCoeff = state.GetRestitutionCoeff(); + this->rigid.frictionCoeff_Static = state.GetFrictionCoeff_Static(); this->rigid.frictionCoeff_Kinetic = state.GetFrictionCoeff_Kinetic(); if( this->scene ) @@ -135,27 +140,27 @@ bool SimpleRigidBody::IsAffectedByGravity() const bool SimpleRigidBody::Intersects( const ICollideable &shape ) const { - return this->rigid.box.Intersects( shape ); + return Box( this->rigid.GetRotationMatrix(), this->rigid.centerPos, this->rigid.GetSize() ).Intersects( shape ); } bool SimpleRigidBody::Intersects( const ICollideable &shape, Float4 &worldPointOfContact ) const { - return this->rigid.box.Intersects( shape, worldPointOfContact ); + return Box( this->rigid.GetRotationMatrix(), this->rigid.centerPos, this->rigid.GetSize() ).Intersects( shape, worldPointOfContact ); } bool SimpleRigidBody::Intersects( const ICustomBody &object, Float4 &worldPointOfContact ) const { - return object.Intersects( this->rigid.box, worldPointOfContact ); + return object.Intersects( Box(this->rigid.GetRotationMatrix(), this->rigid.centerPos, this->rigid.GetSize()), worldPointOfContact ); } Sphere & SimpleRigidBody::GetBoundingSphere( Sphere &targetMem ) const { - return targetMem = Sphere( this->rigid.box.center, this->rigid.box.boundingOffset.GetMagnitude() ); + return targetMem = Sphere( this->rigid.centerPos, this->rigid.boundingReach.GetMagnitude() ); } Float4 & SimpleRigidBody::GetNormalAt( const Float4 &worldPos, Float4 &targetMem ) const { - Float4 offset = worldPos - this->rigid.box.center; + Float4 offset = worldPos - this->rigid.centerPos; Float distance = offset.Dot( offset ); Float3 normal = Float3::null; @@ -163,39 +168,40 @@ Float4 & SimpleRigidBody::GetNormalAt( const Float4 &worldPos, Float4 &targetMem { // sanity check Ray axis( Float4::standard_unit_w, offset / (Float)::std::sqrt(distance) ); Float minDistance = numeric_limits::max(); - - if( Private::Intersects(axis, Plane(this->rigid.box.xAxis, -this->rigid.box.boundingOffset.x), axis.collisionDistance) ) + Float4x4 rotationMatrix = this->rigid.GetRotationMatrix(); + + if( Private::Intersects(axis, Plane(rotationMatrix.v[0], -this->rigid.boundingReach.x), axis.collisionDistance) ) { // check along x-axis if( axis.collisionDistance < 0.0f ) - normal = -this->rigid.box.xAxis.xyz; + normal = -rotationMatrix.v[0].xyz; else - normal = this->rigid.box.xAxis.xyz; + normal = rotationMatrix.v[0].xyz; minDistance = Abs( axis.collisionDistance ); } - if( Private::Intersects(axis, Plane(this->rigid.box.yAxis, -this->rigid.box.boundingOffset.y), axis.collisionDistance) ) + if( Private::Intersects(axis, Plane(rotationMatrix.v[1], -this->rigid.boundingReach.y), axis.collisionDistance) ) { // check along y-axis distance = Abs( axis.collisionDistance ); // recycling memory if( minDistance > distance ) { if( axis.collisionDistance < 0.0f ) - normal = -this->rigid.box.yAxis.xyz; + normal = -rotationMatrix.v[1].xyz; else - normal = this->rigid.box.yAxis.xyz; + normal = rotationMatrix.v[1].xyz; minDistance = distance; } } - if( Private::Intersects(axis, Plane(this->rigid.box.zAxis, -this->rigid.box.boundingOffset.z), axis.collisionDistance) ) + if( Private::Intersects(axis, Plane(rotationMatrix.v[2], -this->rigid.boundingReach.z), axis.collisionDistance) ) { // check along z-axis if( minDistance > Abs( axis.collisionDistance ) ) { if( axis.collisionDistance < 0.0f ) - normal = -this->rigid.box.zAxis.xyz; + normal = -rotationMatrix.v[2].xyz; else - normal = this->rigid.box.zAxis.xyz; + normal = rotationMatrix.v[2].xyz; } } } @@ -211,7 +217,7 @@ Float3 & SimpleRigidBody::GetGravityNormal( Float3 &targetMem ) const //Float3 & SimpleRigidBody::GetCenter( Float3 &targetMem ) const //{ -// return targetMem = this->rigid.box.center; +// return targetMem = this->rigid.centerPos; //} // //Float4x4 & SimpleRigidBody::GetRotation( Float4x4 &targetMem ) const diff --git a/Code/GamePhysics/Implementation/SphericalRigidBody.cpp b/Code/GamePhysics/Implementation/SphericalRigidBody.cpp index e31fd0df..d0bebedf 100644 --- a/Code/GamePhysics/Implementation/SphericalRigidBody.cpp +++ b/Code/GamePhysics/Implementation/SphericalRigidBody.cpp @@ -10,7 +10,8 @@ using namespace ::Utility::Value; SphericalRigidBody::SphericalRigidBody() { - this->rigid = RigidBody( Box(Float4x4::identity, Float3::null, Float3(1.0f)), 10.0f, Float4x4::identity ); + this->rigid = RigidBody(); + this->rigid.SetMass_KeepMomentum( 10.0f ); this->gravityNormal = Float3::null; this->collisionAction = Default::EventAction_Collision; this->ignoreGravity = false; @@ -20,9 +21,13 @@ SphericalRigidBody::SphericalRigidBody() SphericalRigidBody::SphericalRigidBody( const API::SphericalBodyDescription &desc ) { - this->rigid = RigidBody( Box( desc.rotation, desc.centerPosition.xyz, Float3(2.0f * desc.radius) ), - desc.mass, - Formula::MomentOfInertia::CreateSphereMatrix( desc.mass, desc.radius ) ); + this->rigid = RigidBody(); + 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->gravityNormal = Float3::null; if( desc.subscription ) @@ -50,31 +55,31 @@ SphericalRigidBody::State SphericalRigidBody::GetState() const { return State( this->rigid.GetMass(), this->rigid.restitutionCoeff, this->rigid.frictionCoeff_Static, this->rigid.frictionCoeff_Kinetic, - this->rigid.GetMomentOfInertia(), this->rigid.box.boundingOffset, - this->rigid.box.center, AngularAxis(this->rigid.box.rotation), - Float4(this->rigid.linearMomentum, 0.0f), Float4(this->rigid.angularMomentum, 0.0f) ); + this->rigid.GetMomentOfInertia(), this->rigid.boundingReach, + this->rigid.centerPos, this->rigid.axis, + this->rigid.momentum_Linear, this->rigid.momentum_Angular ); } SphericalRigidBody::State & SphericalRigidBody::GetState( SphericalRigidBody::State &targetMem ) const { return targetMem = State( this->rigid.GetMass(), this->rigid.restitutionCoeff, this->rigid.frictionCoeff_Static, this->rigid.frictionCoeff_Kinetic, - this->rigid.GetMomentOfInertia(), this->rigid.box.boundingOffset, - this->rigid.box.center, AngularAxis(this->rigid.box.rotation), - Float4(this->rigid.linearMomentum, 0.0f), Float4(this->rigid.angularMomentum, 0.0f) ); + this->rigid.GetMomentOfInertia(), this->rigid.boundingReach, + this->rigid.centerPos, this->rigid.axis, + this->rigid.momentum_Linear, this->rigid.momentum_Angular ); } void SphericalRigidBody::SetState( const SphericalRigidBody::State &state ) { - this->rigid.box.boundingOffset = state.GetReach(); - this->rigid.box.center = state.GetCenterPosition(); - this->rigid.box.rotation = state.GetRotation(); - this->rigid.angularMomentum = state.GetAngularMomentum().xyz; - this->rigid.linearMomentum = state.GetLinearMomentum().xyz; - this->rigid.impulseTorqueSum += state.GetAngularImpulse().xyz; - this->rigid.impulseForceSum += state.GetLinearImpulse().xyz; - this->rigid.restitutionCoeff = state.GetRestitutionCoeff(); - this->rigid.frictionCoeff_Static = state.GetFrictionCoeff_Static(); + this->rigid.centerPos = state.GetCenterPosition(); + this->rigid.SetRotation( state.GetRotation() ); + this->rigid.boundingReach = state.GetReach(); + this->rigid.momentum_Linear = state.GetLinearMomentum(); + this->rigid.momentum_Angular = state.GetAngularMomentum(); + this->rigid.impulse_Linear += state.GetLinearImpulse(); + this->rigid.impulse_Angular += state.GetAngularImpulse(); + this->rigid.restitutionCoeff = state.GetRestitutionCoeff(); + this->rigid.frictionCoeff_Static = state.GetFrictionCoeff_Static(); this->rigid.frictionCoeff_Kinetic = state.GetFrictionCoeff_Kinetic(); if( this->scene ) @@ -104,17 +109,17 @@ bool SphericalRigidBody::IsAffectedByGravity() const bool SphericalRigidBody::Intersects( const ICollideable &shape ) const { - return Sphere( this->rigid.box.center, this->rigid.box.boundingOffset.x ).Intersects( shape ); + return Sphere( this->rigid.centerPos, this->rigid.boundingReach.x ).Intersects( shape ); } bool SphericalRigidBody::Intersects( const ICollideable &shape, Float4 &worldPointOfContact ) const { - return Sphere( this->rigid.box.center, this->rigid.box.boundingOffset.x ).Intersects( shape, worldPointOfContact ); + return Sphere( this->rigid.centerPos, this->rigid.boundingReach.x ).Intersects( shape, worldPointOfContact ); } bool SphericalRigidBody::Intersects( const ICustomBody &object, Float4 &worldPointOfContact ) const { - return object.Intersects( Sphere(this->rigid.box.center, this->rigid.box.boundingOffset.x), worldPointOfContact ); + return object.Intersects( Sphere(this->rigid.centerPos, this->rigid.boundingReach.x), worldPointOfContact ); } Sphere & SphericalRigidBody::GetBoundingSphere( Sphere &targetMem ) const @@ -124,7 +129,7 @@ Sphere & SphericalRigidBody::GetBoundingSphere( Sphere &targetMem ) const Float4 & SphericalRigidBody::GetNormalAt( const Float4 &worldPos, Float4 &targetMem ) const { - targetMem = worldPos - this->rigid.box.center; + targetMem = worldPos - this->rigid.centerPos; Float magnitude = targetMem.GetMagnitude(); if( magnitude != 0.0f ) { // sanity check @@ -141,7 +146,7 @@ Float3 & SphericalRigidBody::GetGravityNormal( Float3 &targetMem ) const //Float3 & SphericalRigidBody::GetCenter( Float3 &targetMem ) const //{ -// return targetMem = this->rigid.box.center; +// return targetMem = this->rigid.centerPos; //} // //Float4x4 & SphericalRigidBody::GetRotation( Float4x4 &targetMem ) const @@ -167,7 +172,7 @@ Float3 SphericalRigidBody::GetRigidLinearVelocity() const UpdateState SphericalRigidBody::Update( Float timeStepLength ) { this->rigid.Update_LeapFrog( timeStepLength ); - this->body.center = this->rigid.GetCenter(); + this->body.center = this->rigid.centerPos; // compare previous and new state and return result //return this->current == this->previous ? UpdateState_resting : UpdateState_altered; diff --git a/Code/OysterMath/LinearMath.h b/Code/OysterMath/LinearMath.h index f686ada4..0ebf94e7 100644 --- a/Code/OysterMath/LinearMath.h +++ b/Code/OysterMath/LinearMath.h @@ -281,6 +281,106 @@ namespace LinearAlgebra3D 0, 0, 0, 1 ); } + template + inline ::LinearAlgebra::Quaternion Rotation( const ScalarType &radian, const ::LinearAlgebra::Vector3 &normalizedAxis ) + { + ScalarType r = radian * 0.5f, + s = std::sin( r ), + c = std::cos( r ); + + return ::LinearAlgebra::Quaternion( normalizedAxis * s, c ); + } + + template + inline ::LinearAlgebra::Quaternion Rotation( const ScalarType &radian, const ::LinearAlgebra::Vector4 &normalizedAxis ) + { + ScalarType r = radian * 0.5f, + s = std::sin( r ), + c = std::cos( r ); + + return ::LinearAlgebra::Quaternion( (normalizedAxis * s).xyz, c ); + } + + template + inline ::LinearAlgebra::Quaternion Rotation( const ::LinearAlgebra::Vector3 &angularAxis ) + { + ScalarType radius = angularAxis.Dot( angularAxis ); + if( radius != 0 ) + { + radius = (ScalarType)::std::sqrt( radius ); + return Rotation( radius, angularAxis / radius ); + } + else + { + return ::LinearAlgebra::Quaternion::identity; + } + } + + template + inline ::LinearAlgebra::Quaternion Rotation( const ::LinearAlgebra::Vector4 &angularAxis ) + { + ScalarType radius = angularAxis.Dot( angularAxis ); + if( radius != 0 ) + { + radius = (ScalarType)::std::sqrt( radius ); + return Rotation( radius, angularAxis / radius ); + } + else + { + return ::LinearAlgebra::Quaternion::identity; + } + } + + template + inline ::LinearAlgebra::Matrix4x4 & RotationMatrix( const ::LinearAlgebra::Quaternion &rotationQuaternion, ::LinearAlgebra::Matrix4x4 targetMem = ::LinearAlgebra::Matrix4x4() ) + { + ::LinearAlgebra::Quaternion conjugate = rotationQuaternion.GetConjugate(); + + targetMem.v[0] = ::LinearAlgebra::Vector4( (rotationQuaternion*::LinearAlgebra::Vector3(1,0,0)*conjugate).imaginary, 0 ); + targetMem.v[1] = ::LinearAlgebra::Vector4( (rotationQuaternion*::LinearAlgebra::Vector3(0,1,0)*conjugate).imaginary, 0 ); + targetMem.v[2] = ::LinearAlgebra::Vector4( (rotationQuaternion*::LinearAlgebra::Vector3(0,0,1)*conjugate).imaginary, 0 ); + targetMem.v[3] = ::LinearAlgebra::Vector4::standard_unit_w; + return targetMem; + } + + template + inline ::LinearAlgebra::Matrix4x4 & OrientationMatrix( const ::LinearAlgebra::Quaternion &rotationQuaternion, const ::LinearAlgebra::Vector3 &translation, ::LinearAlgebra::Matrix4x4 targetMem = ::LinearAlgebra::Matrix4x4() ) + { + ::LinearAlgebra::Quaternion conjugate = rotationQuaternion.GetConjugate(); + + targetMem.v[0] = ::LinearAlgebra::Vector4( (rotationQuaternion*::LinearAlgebra::Vector3(1,0,0)*conjugate).imaginary, 0 ); + targetMem.v[1] = ::LinearAlgebra::Vector4( (rotationQuaternion*::LinearAlgebra::Vector3(0,1,0)*conjugate).imaginary, 0 ); + targetMem.v[2] = ::LinearAlgebra::Vector4( (rotationQuaternion*::LinearAlgebra::Vector3(0,0,1)*conjugate).imaginary, 0 ); + targetMem.v[3] = ::LinearAlgebra::Vector4( translation, 1 ); + return targetMem; + } + + template + inline ::LinearAlgebra::Matrix4x4 & OrientationMatrix( const ::LinearAlgebra::Quaternion &rotationQuaternion, const ::LinearAlgebra::Vector4 &translation, ::LinearAlgebra::Matrix4x4 targetMem = ::LinearAlgebra::Matrix4x4() ) + { + ::LinearAlgebra::Quaternion conjugate = rotationQuaternion.GetConjugate(); + + targetMem.v[0] = ::LinearAlgebra::Vector4( (rotationQuaternion*::LinearAlgebra::Vector3(1,0,0)*conjugate).imaginary, 0 ); + targetMem.v[1] = ::LinearAlgebra::Vector4( (rotationQuaternion*::LinearAlgebra::Vector3(0,1,0)*conjugate).imaginary, 0 ); + targetMem.v[2] = ::LinearAlgebra::Vector4( (rotationQuaternion*::LinearAlgebra::Vector3(0,0,1)*conjugate).imaginary, 0 ); + targetMem.v[3] = translation; + return targetMem; + } + + template + inline ::LinearAlgebra::Matrix4x4 & ViewMatrix( const ::LinearAlgebra::Quaternion &rotationQuaternion, const ::LinearAlgebra::Vector3 &translation, ::LinearAlgebra::Matrix4x4 targetMem = ::LinearAlgebra::Matrix4x4() ) + { + OrientationMatrix( rotationQuaternion, translation, targetMem ); + return InverseOrientationMatrix( targetMem, targetMem ); + } + + template + inline ::LinearAlgebra::Matrix4x4 & ViewMatrix( const ::LinearAlgebra::Quaternion &rotationQuaternion, const ::LinearAlgebra::Vector4 &translation, ::LinearAlgebra::Matrix4x4 targetMem = ::LinearAlgebra::Matrix4x4() ) + { + OrientationMatrix( rotationQuaternion, translation, targetMem ); + return InverseOrientationMatrix( targetMem, targetMem ); + } + template inline ::LinearAlgebra::Matrix3x3 & RotationMatrix_AxisX( const ScalarType &radian, ::LinearAlgebra::Matrix3x3 &targetMem = ::LinearAlgebra::Matrix3x3() ) { @@ -557,9 +657,17 @@ namespace LinearAlgebra3D inline ::LinearAlgebra::Vector3 VectorProjection( const ::LinearAlgebra::Vector3 &vector, const ::LinearAlgebra::Vector3 &axis ) { return axis * ( vector.Dot(axis) / axis.Dot(axis) ); } + template + inline ::LinearAlgebra::Vector4 VectorProjection( const ::LinearAlgebra::Vector4 &vector, const ::LinearAlgebra::Vector4 &axis ) + { return axis * ( vector.Dot(axis) / axis.Dot(axis) ); } + template inline ::LinearAlgebra::Vector3 NormalProjection( const ::LinearAlgebra::Vector3 &vector, const ::LinearAlgebra::Vector3 &normalizedAxis ) { return normalizedAxis * ( vector.Dot(normalizedAxis) ); } + + template + inline ::LinearAlgebra::Vector4 NormalProjection( const ::LinearAlgebra::Vector4 &vector, const ::LinearAlgebra::Vector4 &normalizedAxis ) + { return normalizedAxis * ( vector.Dot(normalizedAxis) ); } } #include "Utilities.h" diff --git a/Code/OysterMath/OysterMath.cpp b/Code/OysterMath/OysterMath.cpp index b72ad551..f44de9fd 100644 --- a/Code/OysterMath/OysterMath.cpp +++ b/Code/OysterMath/OysterMath.cpp @@ -101,6 +101,51 @@ namespace Oyster { namespace Math3D return ::LinearAlgebra3D::TranslationMatrix( position, targetMem ); } + Quaternion Rotation( Float radian, const Float3 &normalizedAxis ) + { + return ::LinearAlgebra3D::Rotation( radian, normalizedAxis ); + } + + Quaternion Rotation( Float radian, const Float4 &normalizedAxis ) + { + return ::LinearAlgebra3D::Rotation( radian, normalizedAxis ); + } + + Quaternion Rotation( const Float3 &angularAxis ) + { + return ::LinearAlgebra3D::Rotation( angularAxis ); + } + + Quaternion Rotation( const Float4 &angularAxis ) + { + return ::LinearAlgebra3D::Rotation( angularAxis ); + } + + Float4x4 & RotationMatrix( const Quaternion &rotationQuaternion, Float4x4 &targetMem ) + { + return ::LinearAlgebra3D::RotationMatrix( rotationQuaternion, targetMem ); + } + + Float4x4 & OrientationMatrix( const Quaternion &rotationQuaternion, const Float3 &translation, Float4x4 &targetMem ) + { + return ::LinearAlgebra3D::OrientationMatrix( rotationQuaternion, translation, targetMem ); + } + + Float4x4 & OrientationMatrix( const Quaternion &rotationQuaternion, const Float4 &translation, Float4x4 &targetMem ) + { + return ::LinearAlgebra3D::OrientationMatrix( rotationQuaternion, translation, targetMem ); + } + + Float4x4 & ViewMatrix( const Quaternion &rotationQuaternion, const Float3 &translation, Float4x4 &targetMem ) + { + return ::LinearAlgebra3D::ViewMatrix( rotationQuaternion, translation, targetMem ); + } + + Float4x4 & ViewMatrix( const Quaternion &rotationQuaternion, const Float4 &translation, Float4x4 &targetMem ) + { + return ::LinearAlgebra3D::ViewMatrix( rotationQuaternion, translation, targetMem ); + } + Float4x4 & RotationMatrix_AxisX( const Float &radian, Float4x4 &targetMem ) { return ::LinearAlgebra3D::RotationMatrix_AxisX( radian, targetMem ); @@ -217,8 +262,18 @@ namespace Oyster { namespace Math3D return ::LinearAlgebra3D::VectorProjection( vector, axis ); } + Float4 VectorProjection( const Float4 &vector, const Float4 &axis ) + { + return ::LinearAlgebra3D::VectorProjection( vector, axis ); + } + Float3 NormalProjection( const Float3 &vector, const Float3 &normalizedAxis ) { return ::LinearAlgebra3D::NormalProjection( vector, normalizedAxis ); } + + Float4 NormalProjection( const Float4 &vector, const Float4 &normalizedAxis ) + { + return ::LinearAlgebra3D::NormalProjection( vector, normalizedAxis ); + } } } \ No newline at end of file diff --git a/Code/OysterMath/OysterMath.h b/Code/OysterMath/OysterMath.h index 18a57458..2fe57718 100644 --- a/Code/OysterMath/OysterMath.h +++ b/Code/OysterMath/OysterMath.h @@ -9,17 +9,19 @@ #include "LinearMath.h" #include -namespace Oyster { namespace Math /// Oyster's native math library +namespace Oyster { namespace Math //! Oyster's native math library { - typedef float Float; /// Oyster's native scalar is float + typedef float Float; //!< Oyster's native scalar is float - typedef ::LinearAlgebra::Vector2 Float2; /// 2D Linear Vector for Oyster - typedef ::LinearAlgebra::Vector3 Float3; /// 3D Linear Vector for Oyster - typedef ::LinearAlgebra::Vector4 Float4; /// 4D Linear Vector for Oyster + typedef ::LinearAlgebra::Vector2 Float2; //!< 2D Linear Vector for Oyster + typedef ::LinearAlgebra::Vector3 Float3; //!< 3D Linear Vector for Oyster + typedef ::LinearAlgebra::Vector4 Float4; //!< 4D Linear Vector for Oyster - typedef ::LinearAlgebra::Matrix2x2 Float2x2; /// 2x2 Linear Matrix for Oyster - typedef ::LinearAlgebra::Matrix3x3 Float3x3; /// 3x3 Linear Matrix for Oyster - typedef ::LinearAlgebra::Matrix4x4 Float4x4; /// 4x4 Linear Matrix for Oyster + typedef ::LinearAlgebra::Matrix2x2 Float2x2; //!< 2x2 Linear Matrix for Oyster + typedef ::LinearAlgebra::Matrix3x3 Float3x3; //!< 3x3 Linear Matrix for Oyster + typedef ::LinearAlgebra::Matrix4x4 Float4x4; //!< 4x4 Linear Matrix for Oyster + + typedef ::LinearAlgebra::Quaternion Quaternion; //!< Quaternion for Oyster typedef Float4x4 Matrix; // by popular demand typedef Float2 Vector2; // by popular demand @@ -28,20 +30,20 @@ namespace Oyster { namespace Math /// Oyster's native math library const Float pi = 3.1415926535897932384626433832795f; - /// Function Highly recommended to check at start, just in case current version is using a feature that might be available. - /// @todo TODO: create a template UniquePointer to use here + //! Function Highly recommended to check at start, just in case current version is using a feature that might be available. + //! @todo TODO: create a template UniquePointer to use here bool IsSupported(); - /// Creates a solution matrix for 'out´= 'targetMem' * 'in'. - /// Returns false if there is no explicit solution. + //! Creates a solution matrix for 'out´= 'targetMem' * 'in'. + //! Returns false if there is no explicit solution. bool SuperpositionMatrix( const Float2x2 &in, const Float2x2 &out, Float2x2 &targetMem ); - /// Creates a solution matrix for 'out´= 'targetMem' * 'in'. - /// Returns false if there is no explicit solution. + //! Creates a solution matrix for 'out´= 'targetMem' * 'in'. + //! Returns false if there is no explicit solution. bool SuperpositionMatrix( const Float3x3 &in, const Float3x3 &out, Float3x3 &targetMem ); - /// Creates a solution matrix for 'out´= 'targetMem' * 'in'. - /// Returns false if there is no explicit solution. + //! 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 ); } } @@ -96,54 +98,54 @@ inline ::Oyster::Math::Float3x3 operator * ( const ::Oyster::Math::Float &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 +namespace Oyster { namespace Math2D //! Oyster's native math library specialized for 2D { using namespace ::Oyster::Math; // deliberate inheritance from ::Oyster::Math namespace - /// If there is an Y-axis on a 2D plane, then there is an explicit X-axis on and that is what is returned. - /// Recommended too make sure that yAxis is normalized. + //! If there is an Y-axis on a 2D plane, then there is an explicit X-axis on and that is what is returned. + //! Recommended too make sure that yAxis is normalized. Float2 X_AxisTo( const Float2 &yAxis ); - /// If there is an X-axis on a 2D plane, then there is an explicit Y-axis and that is what is returned. - /// Recommended too make sure that yAxis is normalized. + //! If there is an X-axis on a 2D plane, then there is an explicit Y-axis and that is what is returned. + //! Recommended too make sure that yAxis is normalized. Float2 Y_AxisTo( const Float2 &xAxis ); - /// Sets and returns targetMem to a translationMatrix with position as translation. + //! Sets and returns targetMem to a translationMatrix with position as translation. Float3x3 & TranslationMatrix( const Float2 &position, Float3x3 &targetMem = Float3x3() ); - /// Sets and returns targetMem as a counterclockwise rotationMatrix + //! Sets and returns targetMem as a counterclockwise rotationMatrix Float3x3 & RotationMatrix( const Float &radian, Float3x3 &targetMem = Float3x3() ); - /// If rotation is assumed to be by all definitions a rotation matrix. Then this is a much faster inverse method. + //! If rotation is assumed to be by all definitions a rotation matrix. Then this is a much faster inverse method. Float2x2 & InverseRotationMatrix( const Float2x2 &rotation, Float2x2 &targetMem = Float2x2() ); - /// If rotation is assumed to be by all definitions a rotation matrix. Then this is a much faster inverse method. + //! If rotation is assumed to be by all definitions a rotation matrix. Then this is a much faster inverse method. Float3x3 & InverseRotationMatrix( const Float3x3 &rotation, Float3x3 &targetMem = Float3x3() ); - /// Sets and returns targetMem as an orientation Matrix composed by the rotation matrix and translation vector + //! Sets and returns targetMem as an orientation Matrix composed by the rotation matrix and translation vector Float3x3 & OrientationMatrix( const Float2x2 &rotation, const Float2 &translation, Float3x3 &targetMem = Float3x3() ); - /// Sets and returns targetMem as an orientation Matrix composed by the rotation matrix and translation vector + //! Sets and returns targetMem as an orientation Matrix composed by the rotation matrix and translation vector Float3x3 & OrientationMatrix( const Float3x3 &rotation, const Float2 &translation, Float3x3 &targetMem = Float3x3() ); - /// Sets and returns targetMem as an orientation Matrix with position as translation and radian rotation + //! Sets and returns targetMem as an orientation Matrix with position as translation and radian rotation Float3x3 & OrientationMatrix( const Float2 &position, const Float &radian, Float3x3 &targetMem = Float3x3() ); - /// Sets and returns targetMem as an orientation Matrix with position as translation and local y-axis directed at lookAt + //! Sets and returns targetMem as an orientation Matrix with position as translation and local y-axis directed at lookAt Float3x3 & OrientationMatrix( const Float2 &position, const Float2 &lookAt, Float3x3 &targetMem = Float3x3() ); - /// Sets and returns targetMem as an orientation Matrix that is rotated around localCenterOfRotation and then translated with position. - /// TODO: not tested + //! Sets and returns targetMem as an orientation Matrix that is rotated around localCenterOfRotation and then translated with position. + //! TODO: not tested Float3x3 & OrientationMatrix( const Float2 &position, Float radian, const Float2 &localCenterOfRotation, Float3x3 &targetMem = Float3x3() ); - /// If orientationMatrix is assumed to be by all definitions a rigid orientation matrix aka rigid body matrix. Then this is a much faster inverse method. + //! If orientationMatrix is assumed to be by all definitions a rigid orientation matrix aka rigid body matrix. Then this is a much faster inverse method. Float3x3 & InverseOrientationMatrix( const Float3x3 &orientationMatrix, Float3x3 &targetMem = Float3x3() ); - /// Returns targetmem after writing the rotation data from orientation, into it. + //! Returns targetmem after writing the rotation data from orientation, into it. Float3x3 & ExtractRotationMatrix( const Float3x3 &orientation, Float3x3 &targetMem = Float3x3() ); } } -namespace Oyster { namespace Math3D /// Oyster's native math library specialized for 3D +namespace Oyster { namespace Math3D //! Oyster's native math library specialized for 3D { using namespace ::Oyster::Math; // deliberate inheritance from ::Oyster::Math namespace @@ -156,35 +158,62 @@ namespace Oyster { namespace Math3D /// Oyster's native math library specialized //! Extracts the angularAxis from orientationMatrix Float4 ExtractAngularAxis( const Float4x4 &orientationMatrix ); - /// Sets and returns targetMem to a translationMatrix with position as translation. + //! Sets and returns targetMem to a translationMatrix with position as translation. Float4x4 & TranslationMatrix( const Float3 &position, Float4x4 &targetMem = Float4x4() ); - /// Sets and returns targetMem as an counterclockwise rotation matrix around the global X-axis + /** @todo TODO: add doc */ + Quaternion Rotation( Float radian, const Float3 &normalizedAxis ); + + /** @todo TODO: add doc */ + Quaternion Rotation( Float radian, const Float3 &normalizedAxis ); + + /** @todo TODO: add doc */ + Quaternion Rotation( const Float3 &angularAxis ); + + /** @todo TODO: add doc */ + Quaternion Rotation( const Float4 &angularAxis ); + + /** @todo TODO: add doc */ + Float4x4 & RotationMatrix( const Quaternion &rotationQuaternion, Float4x4 &targetMem = Float4x4() ); + + /** @todo TODO: add doc */ + Float4x4 & OrientationMatrix( const Quaternion &rotationQuaternion, const Float3 &translation, Float4x4 &targetMem = Float4x4() ); + + /** @todo TODO: add doc */ + Float4x4 & OrientationMatrix( const Quaternion &rotationQuaternion, const Float4 &translation, Float4x4 &targetMem = Float4x4() ); + + /** @todo TODO: add doc */ + Float4x4 & ViewMatrix( const Quaternion &rotationQuaternion, const Float3 &translation, Float4x4 &targetMem = Float4x4() ); + + /** @todo TODO: add doc */ + Float4x4 & ViewMatrix( const Quaternion &rotationQuaternion, const Float4 &translation, Float4x4 &targetMem = Float4x4() ); + + //! Sets and returns targetMem as an counterclockwise rotation matrix around the global X-axis Float4x4 & RotationMatrix_AxisX( const Float &radian, Float4x4 &targetMem = Float4x4() ); - /// Sets and returns targetMem as an counterclockwise rotation matrix around the global Y-axis + //! Sets and returns targetMem as an counterclockwise rotation matrix around the global Y-axis Float4x4 & RotationMatrix_AxisY( const Float &radian, Float4x4 &targetMem = Float4x4() ); - /// Sets and returns targetMem as an counterclockwise rotation matrix around the global Z-axis + //! Sets and returns targetMem as an counterclockwise rotation matrix around the global Z-axis Float4x4 & RotationMatrix_AxisZ( const Float &radian, Float4x4 &targetMem = Float4x4() ); - /// Sets and returns targetMem as an counterclockwise rotation matrix around the angularAxis. + //! Sets and returns targetMem as an counterclockwise rotation matrix around the angularAxis. Float4x4 & RotationMatrix( const Float3 &angularAxis, Float4x4 &targetMem = Float4x4() ); - /// Sets and returns targetMem as an counterclockwise rotation matrix around the normalizedAxis. - /// Please make sure normalizedAxis is normalized. + //! Sets and returns targetMem as an counterclockwise rotation matrix around the normalizedAxis. + //! Please make sure normalizedAxis is normalized. Float4x4 & RotationMatrix( const Float &radian, const Float3 &normalizedAxis, Float4x4 &targetMem = Float4x4() ); - /// If rotation is assumed to be by all definitions a rotation matrix. Then this is a much faster inverse method. + //! If rotation is assumed to be by all definitions a rotation matrix. Then this is a much faster inverse method. Float3x3 & InverseRotationMatrix( const Float3x3 &rotation, Float3x3 &targetMem = Float3x3() ); - /// If rotation is assumed to be by all definitions a rotation matrix. Then this is a much faster inverse method. + //! If rotation is assumed to be by all definitions a rotation matrix. Then this is a much faster inverse method. Float4x4 & InverseRotationMatrix( const Float4x4 &rotation, Float4x4 &targetMem = Float4x4() ); - /// Sets and returns targetMem as an orientation Matrix composed by the rotation matrix and translation vector + //! Sets and returns targetMem as an orientation Matrix composed by the rotation matrix and translation vector Float4x4 & OrientationMatrix( const Float3x3 &rotation, const Float3 &translation, Float4x4 &targetMem = Float4x4() ); - /// Sets and returns targetMem as an orientation Matrix composed by the rotation matrix and translation vector + //! Sets and returns targetMem as an orientation Matrix composed by the rotation matrix and translation vector Float4x4 & OrientationMatrix( const Float4x4 &rotation, const Float3 &translation, Float4x4 &targetMem = Float4x4() ); /******************************************************************* @@ -238,14 +267,14 @@ namespace Oyster { namespace Math3D /// Oyster's native math library specialized //! @todo TODO: Add documentation and not tested Float4x4 & ViewMatrix_LookAtPos( const Float3 &worldLookAt, const Float3 &normalizedUpVector, const Float3 &worldPos, Float4x4 &targetMem = Float4x4() ); - /// If orientationMatrix is assumed to be by all definitions a rigid orientation matrix aka rigid body matrix. Then this is a much faster inverse method. + //! If orientationMatrix is assumed to be by all definitions a rigid orientation matrix aka rigid body matrix. Then this is a much faster inverse method. Float4x4 & InverseOrientationMatrix( const Float4x4 &orientationMatrix, Float4x4 &targetMem = Float4x4() ); // O0 = T0 * R0 // O1 = T1 * T0 * R1 * R0 Float4x4 & UpdateOrientationMatrix( const Float3 &deltaPosition, const Float4x4 &deltaRotationMatrix, Float4x4 &orientationMatrix ); - /// Returns targetmem after writing the rotation data from orientation, into it. + //! Returns targetmem after writing the rotation data from orientation, into it. Float4x4 & ExtractRotationMatrix( const Float4x4 &orientation, Float4x4 &targetMem = Float4x4() ); /******************************************************************* @@ -272,13 +301,19 @@ namespace Oyster { namespace Math3D /// Oyster's native math library specialized *******************************************************************/ Float4x4 & ProjectionMatrix_Perspective( const Float &verticalFoV, const Float &aspectRatio, const Float &nearClip = ::std::numeric_limits::epsilon(), const Float &farClip = ::std::numeric_limits::max(), Float4x4 &targetMem = Float4x4() ); - /// returns the component vector of vector that is parallell with axis + //! returns the component vector of vector that is parallell with axis Float3 VectorProjection( const Float3 &vector, const Float3 &axis ); - /// returns the component vector of vector that is parallell with axis. Faster than VectorProjection. + //! returns the component vector of vector that is parallell with axis + Float4 VectorProjection( const Float4 &vector, const Float4 &axis ); + + //! returns the component vector of vector that is parallell with axis. Faster than VectorProjection. Float3 NormalProjection( const Float3 &vector, const Float3 &normalizedAxis ); - /// Helper inline function that sets and then returns targetMem = projection * view + //! returns the component vector of vector that is parallell with axis. Faster than VectorProjection. + Float4 NormalProjection( const Float4 &vector, const Float4 &normalizedAxis ); + + //! Helper inline function that sets and then returns targetMem = projection * view inline Float4x4 & ViewProjectionMatrix( const Float4x4 &view, const Float4x4 &projection, Float4x4 &targetMem = Float4x4() ) { return targetMem = projection * view; } @@ -290,7 +325,7 @@ namespace Oyster { namespace Math3D /// Oyster's native math library specialized inline Float4x4 TransformMatrix( const Float4x4 &transformer, const Float4x4 &transformee ) { return transformer * transformee; } - /// Helper inline function that sets and then returns targetMem = transformer * transformee + //! 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; } } } diff --git a/Code/OysterMath/Quaternion.h b/Code/OysterMath/Quaternion.h index fd19100f..da790f75 100644 --- a/Code/OysterMath/Quaternion.h +++ b/Code/OysterMath/Quaternion.h @@ -22,8 +22,10 @@ namespace LinearAlgebra char byte[sizeof(ScalarType[2])]; }; + static const Quaternion null; + static const Quaternion identity; + Quaternion( ); - Quaternion( const Quaternion &quaternion ); Quaternion( const Vector3 &imaginary, const ScalarType &real ); operator ScalarType* ( ); @@ -53,40 +55,54 @@ namespace LinearAlgebra // Body /////////////////////////////////////////////////////////////////////////////////// + template const Quaternion Quaternion::null = Quaternion( Vector3((ScalarType)0), (ScalarType)0 ); + template const Quaternion Quaternion::identity = Quaternion( Vector3((ScalarType)0), (ScalarType)1 ); + template Quaternion::Quaternion( ) : imaginary(), real() {} template - Quaternion::Quaternion( const Quaternion &quaternion ) - { this->imaginary = quaternion.imaginary; this->real = quaternion.real; } - - template - Quaternion::Quaternion( const Vector3 &_imaginary, const ScalarType &_real ) - { this->imaginary = _imaginary; this->real = _real; } + Quaternion::Quaternion( const Vector3 &imaginary, const ScalarType &real ) + { + this->imaginary = imaginary; + this->real = real; + } template inline Quaternion::operator ScalarType* ( ) - { return this->element; } + { + return this->element; + } template inline Quaternion::operator const ScalarType* ( ) const - { return this->element; } + { + return this->element; + } template inline Quaternion::operator char* ( ) - { return this->byte; } + { + return this->byte; + } template inline Quaternion::operator const char* ( ) const - { return this->byte; } + { + return this->byte; + } template inline ScalarType & Quaternion::operator [] ( int i ) - { return this->element[i]; } + { + return this->element[i]; + } template inline const ScalarType & Quaternion::operator [] ( int i ) const - { return this->element[i]; } + { + return this->element[i]; + } template Quaternion & Quaternion::operator = ( const Quaternion &quaternion ) @@ -154,27 +170,39 @@ namespace LinearAlgebra template inline Quaternion Quaternion::operator * ( const ScalarType &scalar ) const - { return Quaternion(*this) *= scalar; } + { + return Quaternion(*this) *= scalar; + } template inline Quaternion Quaternion::operator / ( const ScalarType &scalar ) const - { return Quaternion(*this) /= scalar; } + { + return Quaternion(*this) /= scalar; + } template inline Quaternion Quaternion::operator + ( const Quaternion &quaternion ) const - { return Quaternion(*this) += quaternion; } + { + return Quaternion(*this) += quaternion; + } template inline Quaternion Quaternion::operator - ( const Quaternion &quaternion ) const - { return Quaternion(*this) -= quaternion; } + { + return Quaternion(*this) -= quaternion; + } template inline Quaternion Quaternion::operator - ( ) const - { return Quaternion(-this->imaginary, -this->real); } + { + return Quaternion(-this->imaginary, -this->real); + } template inline Quaternion Quaternion::GetConjugate( ) const - { return Quaternion(-this->imaginary, this->real ); } + { + return Quaternion(-this->imaginary, this->real ); + } } #endif \ No newline at end of file diff --git a/Code/OysterPhysics3D/Box.cpp b/Code/OysterPhysics3D/Box.cpp index 94f948a6..f55415b7 100644 --- a/Code/OysterPhysics3D/Box.cpp +++ b/Code/OysterPhysics3D/Box.cpp @@ -22,6 +22,13 @@ Box::Box( const Float4x4 &r, const Float3 &p, const Float3 &s ) : ICollideable(T this->boundingOffset = Float4( s * 0.5f , 0.0f); } +Box::Box( const Float4x4 &r, const Float4 &p, const Float4 &s ) : ICollideable(Type_box) +{ + this->rotation = r; + this->center = p; + this->boundingOffset = s * 0.5f; +} + Box::~Box( ) {} Box & Box::operator = ( const Box &box ) diff --git a/Code/OysterPhysics3D/Box.h b/Code/OysterPhysics3D/Box.h index 3259908f..f98ae362 100644 --- a/Code/OysterPhysics3D/Box.h +++ b/Code/OysterPhysics3D/Box.h @@ -28,6 +28,7 @@ namespace Oyster { namespace Collision3D Box( ); Box( const ::Oyster::Math::Float4x4 &rotation, const ::Oyster::Math::Float3 &worldPos, const ::Oyster::Math::Float3 &size ); + Box( const ::Oyster::Math::Float4x4 &rotation, const ::Oyster::Math::Float4 &worldPos, const ::Oyster::Math::Float4 &size ); virtual ~Box( ); Box & operator = ( const Box &box ); diff --git a/Code/OysterPhysics3D/OysterPhysics3D.h b/Code/OysterPhysics3D/OysterPhysics3D.h index 33d9a93e..f70d228f 100644 --- a/Code/OysterPhysics3D/OysterPhysics3D.h +++ b/Code/OysterPhysics3D/OysterPhysics3D.h @@ -192,6 +192,15 @@ namespace Oyster { namespace Physics3D return worldOffset.Cross( linearVelocity ); } + /****************************************************************** + * Returns the world angular velocity of a mass in rotation. + * @todo TODO: improve doc + ******************************************************************/ + inline ::Oyster::Math::Float4 AngularVelocity( const ::Oyster::Math::Float4 &linearVelocity, const ::Oyster::Math::Float4 &worldOffset ) + { + return ::Oyster::Math::Float4( worldOffset.xyz.Cross( linearVelocity.xyz ), 0.0f ); + } + /****************************************************************** * Returns the world tangential velocity at worldPos, of a mass in rotation. * @todo TODO: improve doc @@ -237,6 +246,15 @@ namespace Oyster { namespace Physics3D return worldOffset.Cross( impulseForce ); } + /****************************************************************** + * + * @todo TODO: improve doc + ******************************************************************/ + inline ::Oyster::Math::Float4 ImpulseTorque( const ::Oyster::Math::Float4 & impulseForce, const ::Oyster::Math::Float4 &worldOffset ) + { + return ::Oyster::Math::Float4( worldOffset.xyz.Cross(impulseForce.xyz), 0.0f ); + } + /****************************************************************** * T = I*a * @todo TODO: improve doc @@ -246,6 +264,15 @@ namespace Oyster { namespace Physics3D return ( momentOfInertia * ::Oyster::Math::Float4(angularImpulseAcceleration, 0.0f) ).xyz; } + /****************************************************************** + * T = I*a + * @todo TODO: improve doc + ******************************************************************/ + inline ::Oyster::Math::Float4 ImpulseTorque( const ::Oyster::Math::Float4x4 & momentOfInertia, const ::Oyster::Math::Float4 &angularImpulseAcceleration ) + { + return momentOfInertia * angularImpulseAcceleration; + } + namespace MomentOfInertia { /// Library of Formulas to calculate moment of inerta for simple shapes /** @todo TODO: add MomentOfInertia tensor formulas */ diff --git a/Code/OysterPhysics3D/OysterPhysics3D.vcxproj b/Code/OysterPhysics3D/OysterPhysics3D.vcxproj index c36fded5..14eb0aaa 100644 --- a/Code/OysterPhysics3D/OysterPhysics3D.vcxproj +++ b/Code/OysterPhysics3D/OysterPhysics3D.vcxproj @@ -159,6 +159,7 @@ + diff --git a/Code/OysterPhysics3D/OysterPhysics3D.vcxproj.filters b/Code/OysterPhysics3D/OysterPhysics3D.vcxproj.filters index e3a8a70d..02919d28 100644 --- a/Code/OysterPhysics3D/OysterPhysics3D.vcxproj.filters +++ b/Code/OysterPhysics3D/OysterPhysics3D.vcxproj.filters @@ -75,6 +75,9 @@ Header Files\Physics + + Header Files\Physics + diff --git a/Code/OysterPhysics3D/RigidBody.cpp b/Code/OysterPhysics3D/RigidBody.cpp index a71884f9..e774752b 100644 --- a/Code/OysterPhysics3D/RigidBody.cpp +++ b/Code/OysterPhysics3D/RigidBody.cpp @@ -9,418 +9,201 @@ using namespace ::Oyster::Collision3D; using namespace ::Oyster::Physics3D; using namespace ::Oyster::Math3D; -RigidBody::RigidBody( const Box &b, Float m, const Float4x4 &inertiaTensor ) +RigidBody::RigidBody( ) { // by Dan Andersson - this->box = b; - this->angularMomentum = Float3::null; - this->linearMomentum = Float3::null; - this->impulseTorqueSum = Float3::null; - this->impulseForceSum = Float3::null; + this->centerPos = Float4::standard_unit_w; + this->axis = Float4::null; + this->boundingReach = Float4( 0.5f, 0.5f, 0.5f, 0.0f ); + this->momentum_Linear = Float4::null; + this->momentum_Angular = Float4::null; + this->impulse_Linear = Float4::null; + this->impulse_Angular = Float4::null; this->restitutionCoeff = 1.0f; - this->frictionCoeff_Static = 1.0f; + this->frictionCoeff_Static = 0.5f; this->frictionCoeff_Kinetic = 1.0f; - - if( m != 0.0f ) - { - this->mass = m; - } - else - { - this->mass = ::Utility::Value::numeric_limits::epsilon(); - } - - if( inertiaTensor.GetDeterminant() != 0.0f ) - { - this->momentOfInertiaTensor = inertiaTensor; - } - else - { - this->momentOfInertiaTensor = Float4x4::identity; - } + this->mass = 10; + this->momentOfInertiaTensor = Float4x4::identity; + this->rotation = Quaternion::identity; } RigidBody & RigidBody::operator = ( const RigidBody &body ) { // by Dan Andersson - this->box = body.box; - this->angularMomentum = body.angularMomentum; - this->linearMomentum = body.linearMomentum; - this->impulseTorqueSum = body.impulseTorqueSum; - this->impulseForceSum = body.impulseForceSum; + this->centerPos = body.centerPos; + this->axis = body.axis; + this->boundingReach = body.boundingReach; + this->momentum_Linear = body.momentum_Linear; + this->momentum_Angular = body.momentum_Angular; + this->impulse_Linear = body.impulse_Linear; + this->impulse_Angular = body.impulse_Angular; this->restitutionCoeff = body.restitutionCoeff; this->frictionCoeff_Static = body.frictionCoeff_Static; this->frictionCoeff_Kinetic = body.frictionCoeff_Kinetic; this->mass = body.mass; this->momentOfInertiaTensor = body.momentOfInertiaTensor; + this->rotation = body.rotation; return *this; } -bool RigidBody::operator == ( const RigidBody &body ) -{ - if( this->box.center != body.box.center ) - { - return false; - } - - if( this->box.rotation != body.box.rotation ) - { - return false; - } - - if( this->box.boundingOffset != body.box.boundingOffset ) - { - return false; - } - - if( this->angularMomentum != body.angularMomentum ) - { - return false; - } - - if( this->linearMomentum != body.linearMomentum ) - { - return false; - } - - if( this->impulseTorqueSum != body.impulseTorqueSum ) - { - return false; - } - - if( this->impulseForceSum != body.impulseForceSum ) - { - return false; - } - - return true; -} - -bool RigidBody::operator != ( const RigidBody &body ) -{ - return !this->operator==( body ); -} - -void RigidBody::Update_LeapFrog( Float deltaTime ) +void RigidBody::Update_LeapFrog( Float updateFrameLength ) { // by Dan Andersson: Euler leap frog update when Runga Kutta is not needed - // 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( this->box.rotation, this->momentOfInertiaTensor ); // RI - // updating the linear - // dG = F * dt // ds = dt * Formula::LinearVelocity( m, avg_G ) = dt * avg_G / m = (dt / m) * avg_G - Float3 linearImpulse = this->impulseForceSum; // HACK: * deltaTime; // aka deltaLinearMomentum - Float3 deltaPos = ( deltaTime / this->mass ) * ::Utility::Value::AverageWithDelta( this->linearMomentum, linearImpulse ); + this->centerPos += ( updateFrameLength / this->mass ) * ::Utility::Value::AverageWithDelta( this->momentum_Linear, this->impulse_Linear ); // updating the angular - // dH = T * dt + 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 + // dO = dt * Formula::AngularVelocity( (RI)^-1, avg_H ) = dt * (RI)^-1 * avg_H - Float3 angularImpulse = this->impulseTorqueSum; // HACK: * deltaTime; // aka deltaAngularMomentum - Float3 rotationAxis = Formula::AngularVelocity( wMomentOfInertiaTensor.GetInverse(), - ::Utility::Value::AverageWithDelta(this->angularMomentum, angularImpulse) ); - - Float deltaRadian = rotationAxis.Dot( rotationAxis ); - if( deltaRadian != 0.0f ) - { // branch depending if there is rotation - deltaRadian = ::std::sqrt( deltaRadian ); - rotationAxis /= deltaRadian; + this->axis += Formula::AngularVelocity( wMomentOfInertiaTensor.GetInverse(), ::Utility::Value::AverageWithDelta(this->momentum_Angular, this->impulse_Angular) ); + this->rotation = Rotation( this->axis ); - // using rotationAxis, deltaRadian and deltaPos to create a matrix to update the box - this->box.center.xyz += deltaPos; - TransformMatrix( RotationMatrix(deltaRadian, rotationAxis), this->box.rotation, this->box.rotation ); - } - else - { // no rotation, only use deltaPos to translate the RigidBody - this->box.center.xyz += deltaPos; - } - - // update momentums and clear impulseForceSum and impulseTorqueSum - this->linearMomentum += linearImpulse; - this->impulseForceSum = Float3::null; - this->angularMomentum += angularImpulse; - this->impulseTorqueSum = Float3::null; + // update momentums and clear impulse_Linear and impulse_Angular + this->momentum_Linear += this->impulse_Linear; + this->impulse_Linear = Float4::null; + this->momentum_Angular += this->impulse_Angular; + this->impulse_Angular = Float4::null; } -void RigidBody::ApplyImpulseForce( const Float3 &worldF ) +void RigidBody::ApplyImpulse( const Float4 &worldJ, const Float4 &atWorldPos ) { // by Dan Andersson - this->impulseForceSum += worldF; -} - -void RigidBody::ApplyImpulseForceAt( const Float3 &worldF, const Float3 &worldPos ) -{ // by Dan Andersson - Float3 worldOffset = worldPos - this->box.center.xyz; - if( worldOffset != Float3::null ) + Float4 worldOffset = atWorldPos - this->centerPos; + if( worldOffset != Float4::null ) { - this->impulseForceSum += VectorProjection( worldF, worldOffset ); - this->impulseTorqueSum += Formula::ImpulseTorque( worldF, worldOffset ); + this->impulse_Linear += VectorProjection( worldJ, atWorldPos ); + this->impulse_Angular += Formula::ImpulseTorque( worldJ, atWorldPos ); } else { - this->impulseForceSum += worldF; + this->impulse_Linear += worldJ; } } -void RigidBody::ApplyLinearImpulseAcceleration( const Float3 &worldA ) -{ // by Dan Andersson - this->impulseForceSum += Formula::ImpulseForce( this->mass, worldA ); -} - -void RigidBody::ApplyLinearImpulseAccelerationAt( const Float3 &worldA, const Float3 &worldPos ) -{ // by Dan Andersson - Float3 worldOffset = worldPos - this->box.center.xyz; - if( worldOffset != Float3::null ) - { - this->impulseForceSum += Formula::ImpulseForce( this->mass, VectorProjection(worldA, worldOffset) ); - - // tanAcc = angularAcc x localPosition - // angularAcc = localPosition x tanAcc = localPosition x linearAcc - // T = I * angularAcc - this->impulseTorqueSum += Formula::ImpulseTorque( this->momentOfInertiaTensor, Formula::AngularImpulseAcceleration(worldA, worldOffset) ); - } - else - { - this->impulseForceSum += Formula::ImpulseForce( this->mass, worldA ); - } -} - -void RigidBody::ApplyImpulseTorque( const Float3 &worldT ) -{ // by Dan Andersson - this->impulseTorqueSum += worldT; -} - -void RigidBody::ApplyAngularImpulseAcceleration( const Float3 &worldA ) -{ // by Dan Andersson - this->impulseTorqueSum += Formula::ImpulseTorque( this->momentOfInertiaTensor, worldA ); -} - -Float3 & RigidBody::AccessBoundingReach() -{ // by Dan Andersson - return this->box.boundingOffset.xyz; -} - -const Float3 & RigidBody::AccessBoundingReach() const -{ // by Dan Andersson - return this->box.boundingOffset.xyz; -} - -Float3 & RigidBody::AccessCenter() -{ // by Dan Andersson - return this->box.center.xyz; -} - -const Float3 & RigidBody::AccessCenter() const -{ // by Dan Andersson - return this->box.center.xyz; -} - const Float4x4 & RigidBody::GetMomentOfInertia() const { // by Dan Andersson return this->momentOfInertiaTensor; } -const Float & RigidBody::GetMass() const +Float RigidBody::GetMass() const { // by Dan Andersson return this->mass; } -const Float4x4 RigidBody::GetOrientation() const +const Quaternion & RigidBody::GetRotation() const { // by Dan Andersson - return OrientationMatrix( this->box.rotation, this->box.center.xyz ); + return this->rotation; +} + +Float4x4 RigidBody::GetRotationMatrix() const +{ // by Dan Andersson + return RotationMatrix( this->rotation ); +} + +Float4x4 RigidBody::GetOrientation() const +{ // by Dan Andersson + return ::Oyster::Math3D::OrientationMatrix( this->rotation, this->centerPos ); } Float4x4 RigidBody::GetView() const { // by Dan Andersson - return InverseOrientationMatrix( this->GetOrientation() ); + return ViewMatrix( this->rotation, this->centerPos ); } -const Float3 & RigidBody::GetBoundingReach() const +Float4 RigidBody::GetVelocity_Linear() const { // by Dan Andersson - return this->box.boundingOffset.xyz; + return Formula::LinearVelocity( this->mass, this->momentum_Linear ); } -Float3 RigidBody::GetSize() const +Float4 RigidBody::GetVelocity_Angular() const { // by Dan Andersson - return 2.0f * this->box.boundingOffset.xyz; + return Formula::AngularVelocity( this->momentOfInertiaTensor.GetInverse(), this->momentum_Angular ); } -const Float3 & RigidBody::GetCenter() const +Float4 RigidBody::GetLinearMomentum( const Float4 &atWorldPos ) const { // by Dan Andersson - return this->box.center.xyz; + return this->momentum_Linear + Formula::TangentialLinearMomentum( this->momentum_Angular, atWorldPos - this->centerPos ); } -const Float3 & RigidBody::GetImpulsTorque() const +void RigidBody::SetMomentOfInertia_KeepVelocity( const Float4x4 &localTensorI ) { // by Dan Andersson - return this->impulseTorqueSum; -} + if( localTensorI.GetDeterminant() != 0.0f ) + { // insanity check! MomentOfInertiaTensor must be invertable + Float4x4 rotationMatrix; RotationMatrix( this->rotation, rotationMatrix ); -const Float3 & RigidBody::GetAngularMomentum() const -{ // by Dan Andersson - return this->angularMomentum; -} - -Float3 RigidBody::GetAngularImpulseAcceleration() const -{ // by Dan Andersson - return Formula::AngularImpulseAcceleration( this->momentOfInertiaTensor.GetInverse(), this->impulseTorqueSum ); -} - -Float3 RigidBody::GetAngularVelocity() const -{ // by Dan Andersson - return Formula::AngularVelocity( this->momentOfInertiaTensor.GetInverse(), this->angularMomentum ); -} - -const Float3 & RigidBody::GetImpulseForce() const -{ // by Dan Andersson - return this->impulseForceSum; -} - -const Float3 & RigidBody::GetLinearMomentum() const -{ // by Dan Andersson - return this->linearMomentum; -} - -Float3 RigidBody::GetLinearImpulseAcceleration() const -{ // by Dan Andersson - return Formula::LinearImpulseAcceleration( this->mass, this->impulseForceSum ); -} - -Float3 RigidBody::GetLinearVelocity() const -{ // by Dan Andersson - return Formula::LinearVelocity( this->mass, this->linearMomentum ); -} - -void RigidBody::GetMomentumAt( const Float3 &worldPos, const Float3 &surfaceNormal, Float3 &normalMomentum, Float3 &tangentialMomentum ) const -{ // by Dan Andersson - Float3 worldOffset = worldPos - this->box.center.xyz; - Float3 momentum = Formula::TangentialLinearMomentum( this->angularMomentum, worldOffset ); - momentum += this->linearMomentum; - - normalMomentum = NormalProjection( momentum, surfaceNormal ); - tangentialMomentum = momentum - normalMomentum; -} - -void RigidBody::SetMomentOfInertia_KeepVelocity( const ::Oyster::Math::Float4x4 &localI ) -{ // by Dan Andersson - if( localI.GetDeterminant() != 0.0f ) // insanitycheck! momentOfInertiaTensor must be invertable - { - Float3 w = Formula::AngularVelocity( (this->box.rotation * this->momentOfInertiaTensor).GetInverse(), - this->angularMomentum ); - this->momentOfInertiaTensor = localI; - this->angularMomentum = Formula::AngularMomentum( this->box.rotation*localI, w ); + Float4 w = Formula::AngularVelocity( (rotationMatrix * this->momentOfInertiaTensor).GetInverse(), this->momentum_Angular ); + this->momentOfInertiaTensor = localTensorI; + this->momentum_Angular = Formula::AngularMomentum( rotationMatrix * localTensorI, w ); } } -void RigidBody::SetMomentOfInertia_KeepMomentum( const Float4x4 &localI ) +void RigidBody::SetMomentOfInertia_KeepMomentum( const Float4x4 &localTensorI ) { // by Dan Andersson - if( localI.GetDeterminant() != 0.0f ) // insanitycheck! momentOfInertiaTensor must be invertable - { - this->momentOfInertiaTensor = localI; + if( localTensorI.GetDeterminant() != 0.0f ) + { // insanity check! MomentOfInertiaTensor must be invertable + this->momentOfInertiaTensor = localTensorI; } } void RigidBody::SetMass_KeepVelocity( const Float &m ) { // by Dan Andersson - if( m != 0.0f ) // insanitycheck! mass must be invertable - { - Float3 v = Formula::LinearVelocity( this->mass, this->linearMomentum ); + if( m != 0.0f ) + { // insanity check! Mass must be invertable + Float4 v = Formula::LinearVelocity( this->mass, this->momentum_Linear ); this->mass = m; - this->linearMomentum = Formula::LinearMomentum( this->mass, v ); + this->momentum_Linear = Formula::LinearMomentum( this->mass, v ); } } void RigidBody::SetMass_KeepMomentum( const Float &m ) { // by Dan Anderson - if( m != 0.0f ) // insanitycheck! mass must be invertable - { + if( m != 0.0f ) + { // insanity check! Mass must be invertable this->mass = m; } } void RigidBody::SetOrientation( const Float4x4 &o ) { // by Dan Andersson - ExtractRotationMatrix( o, this->box.rotation ); - this->box.center = o.v[3].xyz; -} - -void RigidBody::SetSize( const Float3 &widthHeight ) -{ // by Dan Andersson - this->box.boundingOffset = 0.5f * widthHeight; -} - -void RigidBody::SetCenter( const Float3 &worldPos ) -{ // by Dan Andersson - this->box.center = worldPos; + 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->box.rotation = r; + this->axis = ExtractAngularAxis( r ); + this->rotation = Rotation( this->axis ); } -void RigidBody::SetImpulseTorque( const Float3 &worldT ) +void RigidBody::SetMomentum_Linear( const Float4 &worldG, const Float4 &atWorldPos ) { // by Dan Andersson - this->impulseTorqueSum = worldT; + Float4 worldOffset = atWorldPos - this->centerPos; + this->momentum_Linear = VectorProjection( worldG, worldOffset ); + this->momentum_Angular = Formula::AngularMomentum( worldG, worldOffset ); } -void RigidBody::SetAngularMomentum( const Float3 &worldH ) +void RigidBody::SetVelocity_Linear( const Float4 &worldV ) { // by Dan Andersson - this->angularMomentum = worldH; + this->momentum_Linear = Formula::LinearMomentum( this->mass, worldV ); } -void RigidBody::SetAngularImpulseAcceleration( const Float3 &worldA ) +void RigidBody::SetVelocity_Linear( const Float4 &worldV, const Float4 &atWorldPos ) { // by Dan Andersson - this->impulseTorqueSum = Formula::ImpulseTorque( this->momentOfInertiaTensor, worldA ); + 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) ); } -void RigidBody::SetAngularVelocity( const Float3 &worldW ) +void RigidBody::SetVelocity_Angular( const Float4 &worldW ) { // by Dan Andersson - this->angularMomentum = Formula::AngularMomentum( this->momentOfInertiaTensor, worldW ); + this->momentum_Angular = Formula::AngularMomentum( this->momentOfInertiaTensor, worldW ); } -void RigidBody::SetImpulseForce( const Float3 &worldF ) +void RigidBody::SetImpulse_Linear( const Float4 &worldJ, const Float4 &atWorldPos ) { // by Dan Andersson - this->impulseForceSum = worldF; -} - -void RigidBody::SetLinearMomentum( const Float3 &worldG ) -{ // by Dan Andersson - this->linearMomentum = worldG; -} - -void RigidBody::SetLinearImpulseAcceleration( const Float3 &worldA ) -{ // by Dan Andersson - this->impulseForceSum = Formula::ImpulseForce( this->mass, worldA ); -} - -void RigidBody::SetLinearVelocity( const Float3 &worldV ) -{ // by Dan Andersson - this->linearMomentum = Formula::LinearMomentum( this->mass, worldV ); -} - -void RigidBody::SetImpulseForceAt( const Float3 &worldForce, const Float3 &worldPos ) -{ // by Dan Andersson - Float3 worldOffset = worldPos - this->box.center.xyz; - this->impulseForceSum = VectorProjection( worldForce, worldOffset ); - this->impulseTorqueSum = Formula::ImpulseTorque( worldForce, worldOffset ); -} - -void RigidBody::SetLinearMomentumAt( const Float3 &worldG, const Float3 &worldPos ) -{ // by Dan Andersson - Float3 worldOffset = worldPos - this->box.center.xyz; - this->linearMomentum = VectorProjection( worldG, worldOffset ); - this->angularMomentum = Formula::AngularMomentum( worldG, worldOffset ); -} - -void RigidBody::SetImpulseAccelerationAt( const Float3 &worldA, const Float3 &worldPos ) -{ // by Dan Andersson - Float3 worldOffset = worldPos - this->box.center.xyz; - this->impulseForceSum = Formula::ImpulseForce( this->mass, VectorProjection(worldA, worldOffset) ); - this->impulseTorqueSum = Formula::ImpulseTorque( this->box.rotation * this->momentOfInertiaTensor, - Formula::AngularImpulseAcceleration(worldA, worldOffset) ); -} - -void RigidBody::SetLinearVelocityAt( const Float3 &worldV, const Float3 &worldPos ) -{ // by Dan Andersson - Float3 worldOffset = worldPos - this->box.center.xyz; - this->linearMomentum = Formula::LinearMomentum( this->mass, VectorProjection(worldV, worldOffset) ); - this->angularMomentum = Formula::AngularMomentum( this->box.rotation * this->momentOfInertiaTensor, - Formula::AngularVelocity(worldV, worldOffset) ); + Float4 worldOffset = atWorldPos - this->centerPos; + this->impulse_Linear = VectorProjection( worldJ, worldOffset ); + this->impulse_Angular = Formula::ImpulseTorque( worldJ, worldOffset ); } \ No newline at end of file diff --git a/Code/OysterPhysics3D/RigidBody.h b/Code/OysterPhysics3D/RigidBody.h index fae7b842..c140982c 100644 --- a/Code/OysterPhysics3D/RigidBody.h +++ b/Code/OysterPhysics3D/RigidBody.h @@ -12,110 +12,74 @@ namespace Oyster { namespace Physics3D { struct RigidBody - { /// A struct of a simple rigid body. + { //! A struct of a simple rigid body. public: - ::Oyster::Collision3D::Box box; /** Contains data representing physical presence. (worldValue) */ - ::Oyster::Math::Float3 angularMomentum, /** The angular momentum H (Nm*s) around an parallell axis. (worldValue) */ - linearMomentum, /** The linear momentum G (kg*m/s). (worldValue) */ - impulseTorqueSum, /** The impulse torque T (Nm) that will be consumed each update. (worldValue) */ - impulseForceSum; /** The impulse force F (N) that will be consumed each update. (worldValue) */ - ::Oyster::Math::Float restitutionCoeff, frictionCoeff_Static, frictionCoeff_Kinetic; + ::Oyster::Math::Float4 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. + ::Oyster::Math::Float restitutionCoeff, //!< + frictionCoeff_Static, //!< + frictionCoeff_Kinetic; //!< - RigidBody( const ::Oyster::Collision3D::Box &box = ::Oyster::Collision3D::Box(), - ::Oyster::Math::Float mass = 12.0f, - const ::Oyster::Math::Float4x4 &inertiaTensor = ::Oyster::Math::Float4x4::identity ); + RigidBody(); RigidBody & operator = ( const RigidBody &body ); - bool operator == ( const RigidBody &body ); - bool operator != ( const RigidBody &body ); + void Update_LeapFrog( ::Oyster::Math::Float updateFrameLength ); - void Update_LeapFrog( ::Oyster::Math::Float deltaTime ); - void ApplyImpulseForce( const ::Oyster::Math::Float3 &worldF ); - void ApplyImpulseForceAt( const ::Oyster::Math::Float3 &worldF, const ::Oyster::Math::Float3 &worldPos ); - void ApplyLinearImpulseAcceleration( const ::Oyster::Math::Float3 &worldA ); - void ApplyLinearImpulseAccelerationAt( const ::Oyster::Math::Float3 &worldA, const ::Oyster::Math::Float3 &worldPos ); - void ApplyImpulseTorque( const ::Oyster::Math::Float3 &worldT ); - void ApplyAngularImpulseAcceleration( const ::Oyster::Math::Float3 &worldA ); - - // ACCESS METHODS ///////////////////////////// - - ::Oyster::Math::Float3 & AccessBoundingReach(); - const ::Oyster::Math::Float3 & AccessBoundingReach() const; - ::Oyster::Math::Float3 & AccessCenter(); - const ::Oyster::Math::Float3 & AccessCenter() const; + 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 ); // GET METHODS //////////////////////////////// - const ::Oyster::Math::Float4x4 & GetMomentOfInertia() const; - const ::Oyster::Math::Float & GetMass() const; - - const ::Oyster::Math::Float4x4 GetOrientation() const; - ::Oyster::Math::Float4x4 GetView() const; - const ::Oyster::Math::Float4x4 & GetToWorldMatrix() const; - ::Oyster::Math::Float4x4 GetToLocalMatrix() const; - - const ::Oyster::Math::Float3 & GetBoundingReach() const; - ::Oyster::Math::Float3 GetSize() const; - - const ::Oyster::Math::Float3 & GetCenter() const; - - const ::Oyster::Math::Float3 & GetImpulsTorque() const; - const ::Oyster::Math::Float3 & GetAngularMomentum() const; - ::Oyster::Math::Float3 GetAngularImpulseAcceleration() const; - ::Oyster::Math::Float3 GetAngularVelocity() const; - - const ::Oyster::Math::Float3 & GetImpulseForce() const; - const ::Oyster::Math::Float3 & GetLinearMomentum() const; - ::Oyster::Math::Float3 GetLinearImpulseAcceleration() const; - ::Oyster::Math::Float3 GetLinearVelocity() const; - - void GetMomentumAt( const ::Oyster::Math::Float3 &worldPos, const ::Oyster::Math::Float3 &surfaceNormal, ::Oyster::Math::Float3 &normalMomentum, ::Oyster::Math::Float3 &tangentialMomentum ) const; + 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; // SET METHODS //////////////////////////////// - void SetMomentOfInertia_KeepVelocity( const ::Oyster::Math::Float4x4 &localI ); - void SetMomentOfInertia_KeepMomentum( const ::Oyster::Math::Float4x4 &localI ); + void SetMomentOfInertia_KeepVelocity( const ::Oyster::Math::Float4x4 &localTensorI ); + void SetMomentOfInertia_KeepMomentum( const ::Oyster::Math::Float4x4 &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 SetSize( const ::Oyster::Math::Float3 &widthHeight ); - void SetCenter( const ::Oyster::Math::Float3 &worldPos ); void SetRotation( const ::Oyster::Math::Float4x4 &r ); - - void SetImpulseTorque( const ::Oyster::Math::Float3 &worldT ); - void SetAngularMomentum( const ::Oyster::Math::Float3 &worldH ); - void SetAngularImpulseAcceleration( const ::Oyster::Math::Float3 &worldA ); - void SetAngularVelocity( const ::Oyster::Math::Float3 &worldW ); - - void SetImpulseForce( const ::Oyster::Math::Float3 &worldF ); - void SetLinearMomentum( const ::Oyster::Math::Float3 &worldG ); - void SetLinearImpulseAcceleration( const ::Oyster::Math::Float3 &worldA ); - void SetLinearVelocity( const ::Oyster::Math::Float3 &worldV ); + void SetSize( const ::Oyster::Math::Float4 &widthHeight ); - void SetImpulseForceAt( const ::Oyster::Math::Float3 &worldF, const ::Oyster::Math::Float3 &worldPos ); - void SetLinearMomentumAt( const ::Oyster::Math::Float3 &worldG, const ::Oyster::Math::Float3 &worldPos ); - void SetImpulseAccelerationAt( const ::Oyster::Math::Float3 &worldA, const ::Oyster::Math::Float3 &worldPos ); - void SetLinearVelocityAt( const ::Oyster::Math::Float3 &worldV, const ::Oyster::Math::Float3 &worldPos ); + void SetMomentum_Linear( const ::Oyster::Math::Float4 &worldG, const ::Oyster::Math::Float4 &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 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 ); 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::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::Quaternion rotation; //!< RotationAxis of the body. }; - - // INLINE IMPLEMENTATIONS /////////////////////////////////////// - - inline const ::Oyster::Math::Float4x4 & RigidBody::GetToWorldMatrix() const - { - return this->GetOrientation(); - } - - inline ::Oyster::Math::Float4x4 RigidBody::GetToLocalMatrix() const - { - return this->GetView(); - } - } } +#include "RigidBody_Inline.h" + #endif diff --git a/Code/OysterPhysics3D/RigidBody_Inline.h b/Code/OysterPhysics3D/RigidBody_Inline.h new file mode 100644 index 00000000..980442dd --- /dev/null +++ b/Code/OysterPhysics3D/RigidBody_Inline.h @@ -0,0 +1,65 @@ +///////////////////////////////////////////////////////////////////// +// INLINE IMPLEMENTATIONS +// Created by Dan Andersson 2013 +///////////////////////////////////////////////////////////////////// + +#ifndef OYSTER_PHYSICS_3D_RIGIDBODY_INLINE_H +#define OYSTER_PHYSICS_3D_RIGIDBODY_INLINE_H + +#include "RigidBody.h" + +namespace Oyster { namespace Physics3D +{ + inline void RigidBody::ApplyImpulse_Linear( const ::Oyster::Math::Float4 &worldJ ) + { + this->impulse_Linear += worldJ; + } + + inline void RigidBody::ApplyImpulse_Angular( const ::Oyster::Math::Float4 &worldJ ) + { + this->impulse_Angular += worldJ; + } + + inline void RigidBody::ApplyForce( const ::Oyster::Math::Float4 &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 ) + { + this->ApplyImpulse( worldF * updateFrameLength, atWorldPos ); + } + + inline ::Oyster::Math::Float4x4 RigidBody::GetToWorldMatrix() const + { + return this->GetOrientation(); + } + + inline ::Oyster::Math::Float4x4 RigidBody::GetToLocalMatrix() const + { + return this->GetView(); + } + + inline ::Oyster::Math::Float4 RigidBody::GetSize() const + { + return 2.0f * this->boundingReach; + } + + inline void RigidBody::SetSize( const ::Oyster::Math::Float4 &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 ); + } + +} } + +#endif \ No newline at end of file From ec9f2379c7de16aa0523bfd2f9776adc505d2973 Mon Sep 17 00:00:00 2001 From: Dander7BD Date: Thu, 19 Dec 2013 22:06:48 +0100 Subject: [PATCH 32/42] Minor bug fixes in math librrary --- Code/OysterMath/LinearMath.h | 12 ++++++------ 1 file changed, 6 insertions(+), 6 deletions(-) diff --git a/Code/OysterMath/LinearMath.h b/Code/OysterMath/LinearMath.h index 0ebf94e7..b5eab471 100644 --- a/Code/OysterMath/LinearMath.h +++ b/Code/OysterMath/LinearMath.h @@ -269,7 +269,7 @@ namespace LinearAlgebra3D template inline ::LinearAlgebra::Vector4 ExtractAngularAxis( const ::LinearAlgebra::Matrix4x4 &orientationMatrix ) { - return ::std::asin( ::LinearAlgebra::Vector4(orientationMatrix.v[1].z, orientationMatrix.v[2].x, orientationMatrix.v[0].y, 1) ); + return ::std::asin( ::LinearAlgebra::Vector4(orientationMatrix.v[1].z, orientationMatrix.v[2].x, orientationMatrix.v[0].y, 0) ); } template @@ -332,7 +332,7 @@ namespace LinearAlgebra3D } template - inline ::LinearAlgebra::Matrix4x4 & RotationMatrix( const ::LinearAlgebra::Quaternion &rotationQuaternion, ::LinearAlgebra::Matrix4x4 targetMem = ::LinearAlgebra::Matrix4x4() ) + inline ::LinearAlgebra::Matrix4x4 & RotationMatrix( const ::LinearAlgebra::Quaternion &rotationQuaternion, ::LinearAlgebra::Matrix4x4 &targetMem = ::LinearAlgebra::Matrix4x4() ) { ::LinearAlgebra::Quaternion conjugate = rotationQuaternion.GetConjugate(); @@ -344,7 +344,7 @@ namespace LinearAlgebra3D } template - inline ::LinearAlgebra::Matrix4x4 & OrientationMatrix( const ::LinearAlgebra::Quaternion &rotationQuaternion, const ::LinearAlgebra::Vector3 &translation, ::LinearAlgebra::Matrix4x4 targetMem = ::LinearAlgebra::Matrix4x4() ) + inline ::LinearAlgebra::Matrix4x4 & OrientationMatrix( const ::LinearAlgebra::Quaternion &rotationQuaternion, const ::LinearAlgebra::Vector3 &translation, ::LinearAlgebra::Matrix4x4 &targetMem = ::LinearAlgebra::Matrix4x4() ) { ::LinearAlgebra::Quaternion conjugate = rotationQuaternion.GetConjugate(); @@ -356,7 +356,7 @@ namespace LinearAlgebra3D } template - inline ::LinearAlgebra::Matrix4x4 & OrientationMatrix( const ::LinearAlgebra::Quaternion &rotationQuaternion, const ::LinearAlgebra::Vector4 &translation, ::LinearAlgebra::Matrix4x4 targetMem = ::LinearAlgebra::Matrix4x4() ) + inline ::LinearAlgebra::Matrix4x4 & OrientationMatrix( const ::LinearAlgebra::Quaternion &rotationQuaternion, const ::LinearAlgebra::Vector4 &translation, ::LinearAlgebra::Matrix4x4 &targetMem = ::LinearAlgebra::Matrix4x4() ) { ::LinearAlgebra::Quaternion conjugate = rotationQuaternion.GetConjugate(); @@ -368,14 +368,14 @@ namespace LinearAlgebra3D } template - inline ::LinearAlgebra::Matrix4x4 & ViewMatrix( const ::LinearAlgebra::Quaternion &rotationQuaternion, const ::LinearAlgebra::Vector3 &translation, ::LinearAlgebra::Matrix4x4 targetMem = ::LinearAlgebra::Matrix4x4() ) + inline ::LinearAlgebra::Matrix4x4 & ViewMatrix( const ::LinearAlgebra::Quaternion &rotationQuaternion, const ::LinearAlgebra::Vector3 &translation, ::LinearAlgebra::Matrix4x4 &targetMem = ::LinearAlgebra::Matrix4x4() ) { OrientationMatrix( rotationQuaternion, translation, targetMem ); return InverseOrientationMatrix( targetMem, targetMem ); } template - inline ::LinearAlgebra::Matrix4x4 & ViewMatrix( const ::LinearAlgebra::Quaternion &rotationQuaternion, const ::LinearAlgebra::Vector4 &translation, ::LinearAlgebra::Matrix4x4 targetMem = ::LinearAlgebra::Matrix4x4() ) + inline ::LinearAlgebra::Matrix4x4 & ViewMatrix( const ::LinearAlgebra::Quaternion &rotationQuaternion, const ::LinearAlgebra::Vector4 &translation, ::LinearAlgebra::Matrix4x4 &targetMem = ::LinearAlgebra::Matrix4x4() ) { OrientationMatrix( rotationQuaternion, translation, targetMem ); return InverseOrientationMatrix( targetMem, targetMem ); From 9aa584acc7b31211d1e6f43e0f5c004c3183251a Mon Sep 17 00:00:00 2001 From: Dander7BD Date: Fri, 20 Dec 2013 10:55:04 +0100 Subject: [PATCH 33/42] RigidBody::Predict_Leapfrog(..) added needed for collision response rewinding/forwarding --- Code/OysterPhysics3D/RigidBody.cpp | 19 +++++++++++++++++-- Code/OysterPhysics3D/RigidBody.h | 1 + 2 files changed, 18 insertions(+), 2 deletions(-) diff --git a/Code/OysterPhysics3D/RigidBody.cpp b/Code/OysterPhysics3D/RigidBody.cpp index e774752b..e33308e2 100644 --- a/Code/OysterPhysics3D/RigidBody.cpp +++ b/Code/OysterPhysics3D/RigidBody.cpp @@ -8,6 +8,7 @@ using namespace ::Oyster::Collision3D; using namespace ::Oyster::Physics3D; using namespace ::Oyster::Math3D; +using namespace ::Utility::Value; RigidBody::RigidBody( ) { // by Dan Andersson @@ -49,7 +50,7 @@ void RigidBody::Update_LeapFrog( Float updateFrameLength ) // updating the linear // ds = dt * Formula::LinearVelocity( m, avg_G ) = dt * avg_G / m = (dt / m) * avg_G - this->centerPos += ( updateFrameLength / this->mass ) * ::Utility::Value::AverageWithDelta( this->momentum_Linear, this->impulse_Linear ); + this->centerPos += ( updateFrameLength / this->mass ) * AverageWithDelta( this->momentum_Linear, this->impulse_Linear ); // updating the angular Float4x4 rotationMatrix; ::Oyster::Math3D::RotationMatrix( this->rotation, rotationMatrix ); @@ -57,7 +58,7 @@ void RigidBody::Update_LeapFrog( Float updateFrameLength ) Float4x4 wMomentOfInertiaTensor = TransformMatrix( rotationMatrix, this->momentOfInertiaTensor ); // RI // dO = dt * Formula::AngularVelocity( (RI)^-1, avg_H ) = dt * (RI)^-1 * avg_H - this->axis += Formula::AngularVelocity( wMomentOfInertiaTensor.GetInverse(), ::Utility::Value::AverageWithDelta(this->momentum_Angular, this->impulse_Angular) ); + this->axis += Formula::AngularVelocity( wMomentOfInertiaTensor.GetInverse(), AverageWithDelta(this->momentum_Angular, this->impulse_Angular) ); this->rotation = Rotation( this->axis ); // update momentums and clear impulse_Linear and impulse_Angular @@ -67,6 +68,20 @@ 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 ) +{ + // 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 + + // dO = dt * Formula::AngularVelocity( (RI)^-1, avg_H ) = dt * (RI)^-1 * avg_H + outDeltaAxis = Formula::AngularVelocity( wMomentOfInertiaTensor.GetInverse(), AverageWithDelta(this->momentum_Angular, actingAngularImpulse) ); +} + void RigidBody::ApplyImpulse( const Float4 &worldJ, const Float4 &atWorldPos ) { // by Dan Andersson Float4 worldOffset = atWorldPos - this->centerPos; diff --git a/Code/OysterPhysics3D/RigidBody.h b/Code/OysterPhysics3D/RigidBody.h index c140982c..1b32c57b 100644 --- a/Code/OysterPhysics3D/RigidBody.h +++ b/Code/OysterPhysics3D/RigidBody.h @@ -30,6 +30,7 @@ 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 ApplyImpulse( const ::Oyster::Math::Float4 &worldJ, const ::Oyster::Math::Float4 &atWorldPos ); void ApplyImpulse_Linear( const ::Oyster::Math::Float4 &worldJ ); From c4bbc09a97cf8453b00d49e6861db0599ad57171 Mon Sep 17 00:00:00 2001 From: Dander7BD Date: Fri, 20 Dec 2013 11:13:44 +0100 Subject: [PATCH 34/42] CustomBodyState::ApplyForwarding(..) added --- Code/GamePhysics/PhysicsStructs-Impl.h | 28 +++++++++++++++++++++++++- Code/GamePhysics/PhysicsStructs.h | 7 ++++++- 2 files changed, 33 insertions(+), 2 deletions(-) diff --git a/Code/GamePhysics/PhysicsStructs-Impl.h b/Code/GamePhysics/PhysicsStructs-Impl.h index e48ede8d..e7704460 100644 --- a/Code/GamePhysics/PhysicsStructs-Impl.h +++ b/Code/GamePhysics/PhysicsStructs-Impl.h @@ -41,7 +41,8 @@ namespace Oyster { namespace Physics this->linearMomentum = linearMomentum; this->angularMomentum = angularMomentum; this->linearImpulse = this->angularImpulse = ::Oyster::Math::Float4::null; - this->isSpatiallyAltered = this->isDisturbed = false; + this->deltaPos = this->deltaAxis = ::Oyster::Math::Float4::null; + this->isSpatiallyAltered = this->isDisturbed = this->isForwarded = false; } inline CustomBodyState & CustomBodyState::operator = ( const CustomBodyState &state ) @@ -58,8 +59,11 @@ namespace Oyster { namespace Physics this->angularMomentum = state.angularMomentum; this->linearImpulse = state.linearImpulse; this->angularImpulse = state.angularImpulse; + this->deltaPos = state.deltaPos; + this->deltaAxis = state.deltaAxis; this->isSpatiallyAltered = state.isSpatiallyAltered; this->isDisturbed = state.isDisturbed; + this->isForwarded = state.isForwarded; return *this; } @@ -149,6 +153,16 @@ namespace Oyster { namespace Physics return this->angularImpulse; } + inline const ::Oyster::Math::Float4 & CustomBodyState::GetForward_DeltaPos() const + { + return this->deltaPos; + } + + inline const ::Oyster::Math::Float4 & CustomBodyState::GetForward_DeltaAxis() const + { + return this->deltaAxis; + } + inline void CustomBodyState::SetMass_KeepMomentum( ::Oyster::Math::Float m ) { this->mass = m; @@ -287,6 +301,13 @@ namespace Oyster { namespace Physics this->isDisturbed = true; } + inline void CustomBodyState::ApplyForwarding( const ::Oyster::Math::Float4 &deltaPos, const ::Oyster::Math::Float4 &deltaAxis ) + { + this->deltaPos += deltaPos; + this->deltaAxis += deltaAxis; + this->isDisturbed = this->isForwarded = true; + } + inline bool CustomBodyState::IsSpatiallyAltered() const { return this->isSpatiallyAltered; @@ -296,6 +317,11 @@ namespace Oyster { namespace Physics { return this->isDisturbed; } + + inline bool CustomBodyState::IsForwarded() const + { + return this->isForwarded; + } } } } diff --git a/Code/GamePhysics/PhysicsStructs.h b/Code/GamePhysics/PhysicsStructs.h index 96ec1f14..3c17ae6d 100644 --- a/Code/GamePhysics/PhysicsStructs.h +++ b/Code/GamePhysics/PhysicsStructs.h @@ -66,6 +66,8 @@ namespace Oyster { namespace Physics 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; void SetMass_KeepMomentum( ::Oyster::Math::Float m ); void SetMass_KeepVelocity( ::Oyster::Math::Float m ); @@ -90,9 +92,11 @@ namespace Oyster { namespace Physics 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 ); bool IsSpatiallyAltered() const; bool IsDisturbed() const; + bool IsForwarded() const; private: ::Oyster::Math::Float mass, restitutionCoeff, staticFrictionCoeff, kineticFrictionCoeff; @@ -100,8 +104,9 @@ namespace Oyster { namespace Physics ::Oyster::Math::Float4 reach, centerPos, angularAxis; ::Oyster::Math::Float4 linearMomentum, angularMomentum; ::Oyster::Math::Float4 linearImpulse, angularImpulse; + ::Oyster::Math::Float4 deltaPos, deltaAxis; // Forwarding data sum - bool isSpatiallyAltered, isDisturbed; + bool isSpatiallyAltered, isDisturbed, isForwarded; }; } } } From 604a17056c1da6d5c84fe1829fb7cb62f9c93a35 Mon Sep 17 00:00:00 2001 From: Dander7BD Date: Fri, 20 Dec 2013 11:15:43 +0100 Subject: [PATCH 35/42] Partial SimpleRigid update --- .../Implementation/SimpleRigidBody.cpp | 17 +++++++++++++++-- .../Implementation/SimpleRigidBody.h | 3 ++- 2 files changed, 17 insertions(+), 3 deletions(-) diff --git a/Code/GamePhysics/Implementation/SimpleRigidBody.cpp b/Code/GamePhysics/Implementation/SimpleRigidBody.cpp index 90df71a1..2d81d233 100644 --- a/Code/GamePhysics/Implementation/SimpleRigidBody.cpp +++ b/Code/GamePhysics/Implementation/SimpleRigidBody.cpp @@ -47,18 +47,19 @@ SimpleRigidBody::SimpleRigidBody() this->rigid.SetMass_KeepMomentum( 16.0f ); this->gravityNormal = Float3::null; this->collisionAction = Default::EventAction_Collision; - this->ignoreGravity = false; + this->ignoreGravity = this->isForwarded = false; this->scene = nullptr; } SimpleRigidBody::SimpleRigidBody( const API::SimpleBodyDescription &desc ) { - this->rigid = RigidBody(); this->rigid.SetRotation( desc.rotation ); this->rigid.centerPos = desc.centerPosition; this->rigid.SetSize( desc.size ); this->rigid.SetMass_KeepMomentum( desc.mass ); this->rigid.SetMomentOfInertia_KeepMomentum( desc.inertiaTensor ); + this->deltaPos = Float4::null; + this->deltaAxis = Float4::null; this->gravityNormal = Float3::null; @@ -113,6 +114,13 @@ void SimpleRigidBody::SetState( const SimpleRigidBody::State &state ) this->rigid.frictionCoeff_Static = state.GetFrictionCoeff_Static(); this->rigid.frictionCoeff_Kinetic = state.GetFrictionCoeff_Kinetic(); + if( state.IsForwarded() ) + { + this->deltaPos += state.GetForward_DeltaPos(); + this->deltaAxis += state.GetForward_DeltaAxis(); + this->isForwarded; + } + if( this->scene ) { if( state.IsSpatiallyAltered() ) @@ -243,6 +251,11 @@ Float3 SimpleRigidBody::GetRigidLinearVelocity() const UpdateState SimpleRigidBody::Update( Float timeStepLength ) { + if( this->isForwarded ) + { + // this->rigid. + } + this->rigid.Update_LeapFrog( timeStepLength ); // compare previous and new state and return result diff --git a/Code/GamePhysics/Implementation/SimpleRigidBody.h b/Code/GamePhysics/Implementation/SimpleRigidBody.h index 3929669b..f407ad1d 100644 --- a/Code/GamePhysics/Implementation/SimpleRigidBody.h +++ b/Code/GamePhysics/Implementation/SimpleRigidBody.h @@ -53,10 +53,11 @@ namespace Oyster { namespace Physics private: ::Oyster::Physics3D::RigidBody rigid; + ::Oyster::Math::Float4 deltaPos, deltaAxis; ::Oyster::Math::Float3 gravityNormal; EventAction_Collision collisionAction; Octree *scene; - bool ignoreGravity; + bool ignoreGravity, isForwarded; }; } } From 9a67e7ef3d27675fc12d5dd0a784bf8fec2a174f Mon Sep 17 00:00:00 2001 From: Dander7BD Date: Fri, 20 Dec 2013 11:19:07 +0100 Subject: [PATCH 36/42] RigidBody::Move(..) added --- Code/OysterPhysics3D/RigidBody.cpp | 7 +++++++ Code/OysterPhysics3D/RigidBody.h | 1 + 2 files changed, 8 insertions(+) diff --git a/Code/OysterPhysics3D/RigidBody.cpp b/Code/OysterPhysics3D/RigidBody.cpp index e33308e2..3ae48511 100644 --- a/Code/OysterPhysics3D/RigidBody.cpp +++ b/Code/OysterPhysics3D/RigidBody.cpp @@ -82,6 +82,13 @@ void RigidBody::Predict_LeapFrog( Float4 &outDeltaPos, Float4 &outDeltaAxis, con outDeltaAxis = Formula::AngularVelocity( wMomentOfInertiaTensor.GetInverse(), AverageWithDelta(this->momentum_Angular, actingAngularImpulse) ); } +void RigidBody::Move( const Float4 &deltaPos, const Float4 &deltaAxis ) +{ + this->centerPos += deltaPos; + this->axis += deltaAxis; + this->rotation = Rotation( this->axis ); +} + void RigidBody::ApplyImpulse( const Float4 &worldJ, const Float4 &atWorldPos ) { // by Dan Andersson Float4 worldOffset = atWorldPos - this->centerPos; diff --git a/Code/OysterPhysics3D/RigidBody.h b/Code/OysterPhysics3D/RigidBody.h index 1b32c57b..a2f44480 100644 --- a/Code/OysterPhysics3D/RigidBody.h +++ b/Code/OysterPhysics3D/RigidBody.h @@ -32,6 +32,7 @@ namespace Oyster { namespace Physics3D 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 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 ); From d163b7d8cf72b25eb4e1065b15485634a5ae281a Mon Sep 17 00:00:00 2001 From: Dander7BD Date: Fri, 20 Dec 2013 11:21:18 +0100 Subject: [PATCH 37/42] Partial SimpleRigidBody update end --- Code/GamePhysics/Implementation/SimpleRigidBody.cpp | 7 +++++-- 1 file changed, 5 insertions(+), 2 deletions(-) diff --git a/Code/GamePhysics/Implementation/SimpleRigidBody.cpp b/Code/GamePhysics/Implementation/SimpleRigidBody.cpp index 2d81d233..88899259 100644 --- a/Code/GamePhysics/Implementation/SimpleRigidBody.cpp +++ b/Code/GamePhysics/Implementation/SimpleRigidBody.cpp @@ -253,12 +253,15 @@ UpdateState SimpleRigidBody::Update( Float timeStepLength ) { if( this->isForwarded ) { - // this->rigid. + this->rigid.Move( this->deltaPos, this->deltaAxis ); + this->deltaPos = Float4::null; + this->deltaAxis = Float4::null; + this->isForwarded = false; } this->rigid.Update_LeapFrog( timeStepLength ); - // compare previous and new state and return result + //! @todo TODO: compare previous and new state and return result //return this->current == this->previous ? UpdateState_resting : UpdateState_altered; return UpdateState_altered; } From ec0f0e0d147904ff025120ddc54f8ab78375d480 Mon Sep 17 00:00:00 2001 From: Dander7BD Date: Fri, 20 Dec 2013 11:30:11 +0100 Subject: [PATCH 38/42] SimpleRigidBody::Predict(..) added --- Code/GamePhysics/Implementation/SimpleRigidBody.cpp | 5 +++++ Code/GamePhysics/Implementation/SimpleRigidBody.h | 1 + Code/GamePhysics/PhysicsAPI.h | 5 +++++ 3 files changed, 11 insertions(+) diff --git a/Code/GamePhysics/Implementation/SimpleRigidBody.cpp b/Code/GamePhysics/Implementation/SimpleRigidBody.cpp index 88899259..29f64144 100644 --- a/Code/GamePhysics/Implementation/SimpleRigidBody.cpp +++ b/Code/GamePhysics/Implementation/SimpleRigidBody.cpp @@ -266,6 +266,11 @@ UpdateState SimpleRigidBody::Update( Float timeStepLength ) return UpdateState_altered; } +void SimpleRigidBody::Predict( Float4 &outDeltaPos, Float4 &outDeltaAxis, const Float4 &actingLinearImpulse, const Float4 &actingAngularImpulse, Float deltaTime ) +{ + this->rigid.Predict_LeapFrog( outDeltaPos, outDeltaAxis, actingLinearImpulse, actingAngularImpulse, deltaTime ); +} + void SimpleRigidBody::SetScene( void *scene ) { this->scene = (Octree*)scene; diff --git a/Code/GamePhysics/Implementation/SimpleRigidBody.h b/Code/GamePhysics/Implementation/SimpleRigidBody.h index f407ad1d..c7d915ef 100644 --- a/Code/GamePhysics/Implementation/SimpleRigidBody.h +++ b/Code/GamePhysics/Implementation/SimpleRigidBody.h @@ -36,6 +36,7 @@ namespace Oyster { namespace Physics //::Oyster::Math::Float4x4 & GetView( ::Oyster::Math::Float4x4 &targetMem = ::Oyster::Math::Float4x4() ) const; UpdateState Update( ::Oyster::Math::Float timeStepLength ); + void Predict( ::Oyster::Math::Float4 &outDeltaPos, ::Oyster::Math::Float4 &outDeltaAxis, const ::Oyster::Math::Float4 &actingLinearImpulse, const ::Oyster::Math::Float4 &actingAngularImpulse, ::Oyster::Math::Float deltaTime ); void SetScene( void *scene ); void SetSubscription( EventAction_Collision functionPointer ); diff --git a/Code/GamePhysics/PhysicsAPI.h b/Code/GamePhysics/PhysicsAPI.h index 3e91a103..d1727a85 100644 --- a/Code/GamePhysics/PhysicsAPI.h +++ b/Code/GamePhysics/PhysicsAPI.h @@ -337,6 +337,11 @@ namespace Oyster * Is called during API::Update ********************************************************/ virtual UpdateState Update( ::Oyster::Math::Float timeStepLength ) = 0; + + /******************************************************** + * @todo TODO: add doc + ********************************************************/ + virtual void Predict( ::Oyster::Math::Float4 &outDeltaPos, ::Oyster::Math::Float4 &outDeltaAxis, const ::Oyster::Math::Float4 &actingLinearImpulse, const ::Oyster::Math::Float4 &actingAngularImpulse, ::Oyster::Math::Float deltaTime ) = 0; /******************************************************** * Sets which scene this ICustomBody is within. From 66e93fbdae53c53f1a778a734e7099e12134510d Mon Sep 17 00:00:00 2001 From: Robin Engman Date: Fri, 20 Dec 2013 11:36:39 +0100 Subject: [PATCH 39/42] SimpleRigid functions mirrored in SphericalRigid The functions added to SimpleRigidBody has been added to SphericalRigidBody too. --- .../Implementation/SphericalRigidBody.cpp | 24 ++++++++++++++++++- .../Implementation/SphericalRigidBody.h | 4 +++- 2 files changed, 26 insertions(+), 2 deletions(-) diff --git a/Code/GamePhysics/Implementation/SphericalRigidBody.cpp b/Code/GamePhysics/Implementation/SphericalRigidBody.cpp index d0bebedf..4b37b2b9 100644 --- a/Code/GamePhysics/Implementation/SphericalRigidBody.cpp +++ b/Code/GamePhysics/Implementation/SphericalRigidBody.cpp @@ -14,7 +14,7 @@ SphericalRigidBody::SphericalRigidBody() this->rigid.SetMass_KeepMomentum( 10.0f ); this->gravityNormal = Float3::null; this->collisionAction = Default::EventAction_Collision; - this->ignoreGravity = false; + this->ignoreGravity = this->isForwarded = false; this->scene = nullptr; this->body = Sphere( Float3::null, 0.5f ); } @@ -27,6 +27,8 @@ SphericalRigidBody::SphericalRigidBody( const API::SphericalBodyDescription &des 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->deltaPos = Float4::null; + this->deltaAxis = Float4::null; this->gravityNormal = Float3::null; @@ -82,6 +84,13 @@ void SphericalRigidBody::SetState( const SphericalRigidBody::State &state ) this->rigid.frictionCoeff_Static = state.GetFrictionCoeff_Static(); this->rigid.frictionCoeff_Kinetic = state.GetFrictionCoeff_Kinetic(); + if( state.IsForwarded() ) + { + this->deltaPos += state.GetForward_DeltaPos(); + this->deltaAxis += state.GetForward_DeltaAxis(); + this->isForwarded = false; + } + if( this->scene ) { if( state.IsSpatiallyAltered() ) @@ -171,6 +180,14 @@ Float3 SphericalRigidBody::GetRigidLinearVelocity() const UpdateState SphericalRigidBody::Update( Float timeStepLength ) { + if( this->isForwarded ) + { + this->rigid.Move( this->deltaPos, this->deltaAxis ); + this->deltaPos = Float4::null; + this->deltaAxis = Float4::null; + this->isForwarded = false; + } + this->rigid.Update_LeapFrog( timeStepLength ); this->body.center = this->rigid.centerPos; @@ -179,6 +196,11 @@ UpdateState SphericalRigidBody::Update( Float timeStepLength ) return UpdateState_altered; } +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 ); +} + void SphericalRigidBody::SetSubscription( ICustomBody::EventAction_Collision functionPointer ) { if( functionPointer ) diff --git a/Code/GamePhysics/Implementation/SphericalRigidBody.h b/Code/GamePhysics/Implementation/SphericalRigidBody.h index 4c2d74e5..3a76715f 100644 --- a/Code/GamePhysics/Implementation/SphericalRigidBody.h +++ b/Code/GamePhysics/Implementation/SphericalRigidBody.h @@ -37,6 +37,7 @@ namespace Oyster { namespace Physics //::Oyster::Math::Float4x4 & GetView( ::Oyster::Math::Float4x4 &targetMem = ::Oyster::Math::Float4x4() ) const; UpdateState Update( ::Oyster::Math::Float timeStepLength ); + void Predict( ::Oyster::Math::Float4 &outDeltaPos, ::Oyster::Math::Float4 &outDeltaAxis, const ::Oyster::Math::Float4 &actingLinearImpulse, const ::Oyster::Math::Float4 &actingAngularImpulse, ::Oyster::Math::Float deltaTime ); void SetScene( void *scene ); void SetSubscription( EventAction_Collision functionPointer ); @@ -54,9 +55,10 @@ namespace Oyster { namespace Physics private: ::Oyster::Physics3D::RigidBody rigid; + ::Oyster::Math::Float4 deltaPos, deltaAxis; ::Oyster::Math::Float3 gravityNormal; EventAction_Collision collisionAction; - bool ignoreGravity; + bool ignoreGravity, isForwarded; Octree *scene; ::Oyster::Collision3D::Sphere body; }; From a440cffb0e07a7253223ad45b5f6710894010c1a Mon Sep 17 00:00:00 2001 From: Robin Engman Date: Fri, 20 Dec 2013 11:43:12 +0100 Subject: [PATCH 40/42] Added function to get delta time Now in local physics API --- Code/GamePhysics/Implementation/PhysicsAPI_Impl.cpp | 5 +++++ Code/GamePhysics/Implementation/PhysicsAPI_Impl.h | 2 ++ 2 files changed, 7 insertions(+) diff --git a/Code/GamePhysics/Implementation/PhysicsAPI_Impl.cpp b/Code/GamePhysics/Implementation/PhysicsAPI_Impl.cpp index 86e5038f..85f484a8 100644 --- a/Code/GamePhysics/Implementation/PhysicsAPI_Impl.cpp +++ b/Code/GamePhysics/Implementation/PhysicsAPI_Impl.cpp @@ -117,6 +117,11 @@ void API_Impl::SetSubscription( API::EventAction_Destruction functionPointer ) } } +float API_Impl::GetFrameTimeLength() const +{ + return this->updateFrameLength; +} + void API_Impl::Update() { /** @todo TODO: Update is a temporary solution .*/ diff --git a/Code/GamePhysics/Implementation/PhysicsAPI_Impl.h b/Code/GamePhysics/Implementation/PhysicsAPI_Impl.h index d10d067a..0c08bf11 100644 --- a/Code/GamePhysics/Implementation/PhysicsAPI_Impl.h +++ b/Code/GamePhysics/Implementation/PhysicsAPI_Impl.h @@ -20,6 +20,8 @@ namespace Oyster void SetGravityConstant( float g ); void SetSubscription( EventAction_Destruction functionPointer ); + float GetFrameTimeLength() const; + void Update(); bool IsInLimbo( const ICustomBody* objRef ); From ca90b3ae3b7d0be77f2f60ef62dbe38e8c80e837 Mon Sep 17 00:00:00 2001 From: Dander7BD Date: Fri, 20 Dec 2013 11:44:27 +0100 Subject: [PATCH 41/42] OnPossibleCollision updated --- Code/GamePhysics/Implementation/PhysicsAPI_Impl.cpp | 8 ++++++++ 1 file changed, 8 insertions(+) diff --git a/Code/GamePhysics/Implementation/PhysicsAPI_Impl.cpp b/Code/GamePhysics/Implementation/PhysicsAPI_Impl.cpp index 85f484a8..f917407b 100644 --- a/Code/GamePhysics/Implementation/PhysicsAPI_Impl.cpp +++ b/Code/GamePhysics/Implementation/PhysicsAPI_Impl.cpp @@ -65,6 +65,14 @@ namespace //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 ); } From 4d3032dc81f6ad4b5525c4b175254fa5ca1f0bf2 Mon Sep 17 00:00:00 2001 From: Dander7BD Date: Fri, 20 Dec 2013 12:13:12 +0100 Subject: [PATCH 42/42] postmerge compile error fix --- 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z+~pqkdB8&+@t7w(GzBJwkl_=W%QE0Ot)C`2V1(TPD!ViB7-#3df_NkBppk(eYT<#&>ioD`%a z6{$%>TGEl83}hq|naM&{vXPw}*h{Y`7ZqZkj==vm0`JYE4}9bkpZP*C41UAc*VhsFIs*T{Bk*4Z CB1IAa diff --git a/Code/GamePhysics/Implementation/SimpleRigidBody.cpp b/Code/GamePhysics/Implementation/SimpleRigidBody.cpp index 29f64144..09855984 100644 --- a/Code/GamePhysics/Implementation/SimpleRigidBody.cpp +++ b/Code/GamePhysics/Implementation/SimpleRigidBody.cpp @@ -243,10 +243,10 @@ Float3 & SimpleRigidBody::GetGravityNormal( Float3 &targetMem ) const // return targetMem = this->rigid.GetView(); //} -Float3 SimpleRigidBody::GetRigidLinearVelocity() const -{ - return this->rigid.GetLinearVelocity(); -} +//Float3 SimpleRigidBody::GetRigidLinearVelocity() const +//{ +// return this->rigid.GetLinearVelocity(); +//} UpdateState SimpleRigidBody::Update( Float timeStepLength ) diff --git a/Code/GamePhysics/Implementation/SimpleRigidBody.h b/Code/GamePhysics/Implementation/SimpleRigidBody.h index c7d915ef..618e0235 100644 --- a/Code/GamePhysics/Implementation/SimpleRigidBody.h +++ b/Code/GamePhysics/Implementation/SimpleRigidBody.h @@ -19,7 +19,7 @@ namespace Oyster { namespace Physics State GetState() const; State & GetState( State &targetMem ) const; void SetState( const State &state ); - ::Oyster::Math::Float3 GetRigidLinearVelocity() const; + //::Oyster::Math::Float3 GetRigidLinearVelocity() const; SubscriptMessage CallSubscription( const ICustomBody *proto, const ICustomBody *deuter ); bool IsAffectedByGravity() const; diff --git a/Code/GamePhysics/Implementation/SphericalRigidBody.cpp b/Code/GamePhysics/Implementation/SphericalRigidBody.cpp index 4b37b2b9..95901763 100644 --- a/Code/GamePhysics/Implementation/SphericalRigidBody.cpp +++ b/Code/GamePhysics/Implementation/SphericalRigidBody.cpp @@ -173,10 +173,10 @@ Float3 & SphericalRigidBody::GetGravityNormal( Float3 &targetMem ) const // return targetMem = this->rigid.GetView(); //} -Float3 SphericalRigidBody::GetRigidLinearVelocity() const -{ - return this->rigid.GetLinearVelocity(); -} +//Float3 SphericalRigidBody::GetRigidLinearVelocity() const +//{ +// return this->rigid.GetLinearVelocity(); +//} UpdateState SphericalRigidBody::Update( Float timeStepLength ) { diff --git a/Code/GamePhysics/Implementation/SphericalRigidBody.h b/Code/GamePhysics/Implementation/SphericalRigidBody.h index 3a76715f..51d1b998 100644 --- a/Code/GamePhysics/Implementation/SphericalRigidBody.h +++ b/Code/GamePhysics/Implementation/SphericalRigidBody.h @@ -20,7 +20,7 @@ namespace Oyster { namespace Physics State GetState() const; State & GetState( State &targetMem = State() ) const; void SetState( const State &state ); - ::Oyster::Math::Float3 GetRigidLinearVelocity() const; + //::Oyster::Math::Float3 GetRigidLinearVelocity() const; SubscriptMessage CallSubscription( const ICustomBody *proto, const ICustomBody *deuter ); bool IsAffectedByGravity() const; diff --git a/Code/GamePhysics/PhysicsAPI.h b/Code/GamePhysics/PhysicsAPI.h index d1727a85..818e64a9 100644 --- a/Code/GamePhysics/PhysicsAPI.h +++ b/Code/GamePhysics/PhysicsAPI.h @@ -251,7 +251,7 @@ namespace Oyster /******************************************************** * @return the linear velocity of the rigid body in a vector. ********************************************************/ - virtual Math::Float3 GetRigidLinearVelocity() const = 0; + //virtual Math::Float3 GetRigidLinearVelocity() const = 0; /******************************************************** * @todo TODO: need doc