diff --git a/Code/OysterPhysics3D/RigidBody.cpp b/Code/OysterPhysics3D/RigidBody.cpp index 62e7e7f6..5f36ce15 100644 --- a/Code/OysterPhysics3D/RigidBody.cpp +++ b/Code/OysterPhysics3D/RigidBody.cpp @@ -242,58 +242,28 @@ Float3 RigidBody::GetTangentialImpulseForceAt( const Float3 &worldPos ) const return Formula::TangentialImpulseForce( this->impulseTorqueSum, worldOffset ); } -// Dan -////////////////////////////////////////////////////////////////////////////////////////////////////////////// -// Robin - -Float3 RigidBody::GetTangentialLinearMomentumAt_Local( const Float3 &localPos ) const +Float3 RigidBody::GetTangentialLinearMomentumAt( const Float3 &worldPos ) const { // by Dan Andersson - return Formula::TangentialLinearMomentum( this->angularMomentum, localPos ); + return Formula::TangentialLinearMomentum( this->angularMomentum, worldPos ); } -Float3 RigidBody::GetTangentialLinearMomentumAt_World( const Float3 &worldPos ) const -{ // by Dan Andersson - return this->GetTangentialLinearMomentumAt_Local( (this->GetView() * Float4(worldPos, 1.0f)).xyz ); // should not be any disform thus result.w = 1.0f -} - -Float3 RigidBody::GetTangentialImpulseAccelerationAt_Local( const Float3 &localPos ) const -{ // by Dan Andersson - return Formula::TangentialImpulseAcceleration( this->momentOfInertiaTensor.GetInverse(), this->impulseTorqueSum, localPos ); -} - -Float3 RigidBody::GetTangentialImpulseAccelerationAt_World( const Float3 &worldPos ) const +Float3 RigidBody::GetTangentialImpulseAccelerationAt( const Float3 &worldPos ) const { // by Dan Andersson return this->GetTangentialImpulseAccelerationAt_Local( (this->GetView() * Float4(worldPos, 1.0f)).xyz ); // should not be any disform thus result.w = 1.0f } -Float3 RigidBody::GetTangentialLinearVelocityAt_Local( const Float3 &localPos ) const -{ // by Dan Andersson - return Formula::TangentialLinearVelocity( this->momentOfInertiaTensor.GetInverse(), this->angularMomentum, localPos ); -} - -Float3 RigidBody::GetTangentialLinearVelocityAt_World( const Float3 &worldPos ) const +Float3 RigidBody::GetTangentialLinearVelocityAt( const Float3 &worldPos ) const { // by Dan Andersson return this->GetTangentialLinearVelocityAt_Local( (this->GetView() * Float4(worldPos, 1.0f)).xyz ); // should not be any disform thus result.w = 1.0f } -Float3 RigidBody::GetImpulseForceAt_Local( const Float3 &localPos ) const -{ // by Dan Andersson - return this->impulseForceSum + Formula::TangentialImpulseForce( this->impulseForceSum, localPos ); -} - -Float3 RigidBody::GetImpulseForceAt_World( const Float3 &worldPos ) const +Float3 RigidBody::GetImpulseForceAt( const Float3 &worldPos ) const { // by Dan Andersson Float4 localForce = Float4( this->GetImpulseForceAt_Local((this->GetView() * Float4(worldPos, 1.0f)).xyz), 0.0f ); // should not be any disform thus result.w = 1.0f return (this->box.orientation * localForce).xyz; // should not be any disform thus result.w = 0.0f } -Float3 RigidBody::GetLinearMomentumAt_Local( const Float3 &localPos ) const -{ // by Dan Andersson - // Reminder! Momentum is a world value. - return Float3::null; // TODO: -} - -Float3 RigidBody::GetLinearMomentumAt_World( const Float3 &worldPos ) const +Float3 RigidBody::GetLinearMomentumAt( const Float3 &worldPos ) const { // by Dan Andersson // Reminder! Momentum is a world value. Float4 localMomentum = Float4( this->GetLinearMomentumAt_Local((this->GetView() * Float4(worldPos, 1.0f)).xyz), 0.0f ); // should not be any disform thus result.w = 1.0f @@ -303,35 +273,21 @@ Float3 RigidBody::GetLinearMomentumAt_World( const Float3 &worldPos ) const return this->linearMomentum + Formula::TangentialLinearMomentum( this->angularMomentum, worldPos ); } -Float3 RigidBody::GetImpulseAccelerationAt_Local( const Float3 &localPos ) const -{ // by Dan Andersson - // Reminder! Acceleration is a world value. - Float4 worldAccel = Float4( this->GetImpulseAccelerationAt_Local((this->box.orientation * Float4(localPos, 1.0f)).xyz), 0.0f ); // should not be any disform thus result.w = 1.0f - return (this->GetView() * worldAccel).xyz; // should not be any disform thus result.w = 0.0f -} - -Float3 RigidBody::GetImpulseAccelerationAt_World( const Float3 &worldPos ) const +Float3 RigidBody::GetImpulseAccelerationAt( const Float3 &worldPos ) const { // by Dan Andersson // Reminder! Acceleration is a world value. return Formula::LinearImpulseAcceleration( this->mass, this->impulseForceSum ) + Formula::TangentialImpulseAcceleration( this->momentOfInertiaTensor.GetInverse(), this->impulseTorqueSum, worldPos ); } -Float3 RigidBody::GetLinearVelocityAt_Local( const Float3 &localPos ) const -{ // by Dan Andersson - // Reminder! Velocity is a world value. - Float4 worldV = Float4( this->GetLinearVelocityAt_Local((this->box.orientation * Float4(localPos, 1.0f)).xyz), 0.0f ); // should not be any disform thus result.w = 1.0f - return (this->GetView() * worldV).xyz; // should not be any disform thus result.w = 0.0f -} - -Float3 RigidBody::GetLinearVelocityAt_World( const Float3 &worldPos ) const +Float3 RigidBody::GetLinearVelocityAt( const Float3 &worldPos ) const { // by Dan Andersson // Reminder! Velocity is a world value. return Formula::LinearVelocity( this->mass, this->linearMomentum ) + Formula::TangentialLinearVelocity( this->momentOfInertiaTensor.GetInverse(), this->angularMomentum, worldPos ); } -void RigidBody::SetMomentOfInertia( const Float4x4 &i ) +void RigidBody::SetMomentOfInertia( const Float4x4 &localI ) { // by Dan Andersson if( i.GetDeterminant() != 0.0f ) // insanitycheck! momentOfInertiaTensor must be invertable { @@ -367,98 +323,71 @@ void RigidBody::SetSize( const Float3 &widthHeight ) this->box.boundingOffset = 0.5f * widthHeight; } -void RigidBody::SetCenter( const Float3 &p ) +void RigidBody::SetCenter( const Float3 &worldPos ) { // by Dan Andersson this->box.center = p; } -void RigidBody::SetImpulseTorque( const Float3 &t ) +void RigidBody::SetImpulseTorque( const Float3 &worldT ) { // by Dan Andersson this->impulseTorqueSum = t; } -void RigidBody::SetAngularMomentum( const Float3 &h ) +void RigidBody::SetAngularMomentum( const Float3 &worldH ) { // by Dan Andersson this->angularMomentum = h; } -void RigidBody::SetAngularImpulseAcceleration( const Float3 &a ) +void RigidBody::SetAngularImpulseAcceleration( const Float3 &worldA ) { // by Dan Andersson this->impulseTorqueSum = Formula::ImpulseTorque( this->momentOfInertiaTensor, a ); } -void RigidBody::SetAngularVelocity( const Float3 &w ) +void RigidBody::SetAngularVelocity( const Float3 &worldW ) { // by Dan Andersson this->angularMomentum = Formula::AngularMomentum( this->momentOfInertiaTensor, w ); } -void RigidBody::SetImpulseForce( const Float3 &f ) +void RigidBody::SetImpulseForce( const Float3 &worldF ) { // by Dan Andersson this->impulseForceSum = f; } -void RigidBody::SetLinearMomentum( const Float3 &g ) +void RigidBody::SetLinearMomentum( const Float3 &worldG ) { // by Dan Andersson this->linearMomentum = g; } -void RigidBody::SetLinearImpulseAcceleration( const Float3 &a ) +void RigidBody::SetLinearImpulseAcceleration( const Float3 &worldA ) { // by Dan Andersson this->impulseForceSum = Formula::ImpulseForce( this->mass, a ); } -void RigidBody::SetLinearVelocity( const Float3 &v ) +void RigidBody::SetLinearVelocity( const Float3 &worldV ) { // by Dan Andersson this->linearMomentum = Formula::LinearMomentum( this->mass, v ); } -void RigidBody::SetImpulseForceAt_Local( const Float3 &localForce, const Float3 &localPos ) -{ // by Dan Andersson - // Reminder! Impulse force and torque is world values. - Float3 worldForce = ( this->box.orientation * Float4(localForce, 0.0f) ).xyz, - worldPos = ( this->box.orientation * Float4(localPos, 1.0f) ).xyz; - this->SetImpulseForceAt_World( worldForce, worldPos ); - -} - -void RigidBody::SetImpulseForceAt_World( const Float3 &worldForce, const Float3 &worldPos ) +void RigidBody::SetImpulseForceAt( const Float3 &worldF, const Float3 &worldPos ) { // by Dan Andersson // Reminder! Impulse force and torque is world values. this->impulseForceSum = VectorProjection( worldForce, worldPos ); this->impulseTorqueSum = Formula::ImpulseTorque( worldForce, worldPos ); } -void RigidBody::SetLinearMomentumAt_Local( const Float3 &localG, const Float3 &localPos ) -{ // by Dan Andersson - // Reminder! Linear and angular momentum is world values. - Float3 worldG = ( this->box.orientation * Float4(localG, 0.0f) ).xyz, - worldPos = ( this->box.orientation * Float4(localPos, 1.0f) ).xyz; - this->SetLinearMomentumAt_World( worldG, worldPos ); -} - -void RigidBody::SetLinearMomentumAt_World( const Float3 &worldG, const Float3 &worldPos ) +void RigidBody::SetLinearMomentumAt( const Float3 &worldG, const Float3 &worldPos ) { // by Dan Andersson // Reminder! Linear and angular momentum is world values. this->linearMomentum = VectorProjection( worldG, worldPos ); this->angularMomentum = Formula::AngularMomentum( worldG, worldPos ); } -void RigidBody::SetImpulseAccelerationAt_Local( const Float3 &a, const Float3 &pos ) -{ // by Dan Andersson - -} - -void RigidBody::SetImpulseAccelerationAt_World( const Float3 &a, const Float3 &pos ) +void RigidBody::SetImpulseAccelerationAt( const Float3 &worldA, const Float3 &pos ) { // by } -void RigidBody::SetLinearVelocityAt_Local( const Float3 &v, const Float3 &pos ) -{ // by - -} - -void RigidBody::SetLinearVelocityAt_World( const Float3 &v, const Float3 &pos ) +void RigidBody::SetLinearVelocityAt( const Float3 &worldV, const Float3 &pos ) { // by } \ No newline at end of file