Gravity implemented

This commit is contained in:
Dander7BD 2014-01-15 10:44:31 +01:00
parent 337c92a5b8
commit ff4a39cdac
4 changed files with 83 additions and 4 deletions

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@ -3,6 +3,7 @@
#include "SimpleRigidBody.h"
#include "SphericalRigidBody.h"
using namespace ::Oyster;
using namespace ::Oyster::Physics;
using namespace ::Oyster::Math;
using namespace ::Oyster::Collision3D;
@ -113,6 +114,7 @@ API_Impl::API_Impl()
this->gravityConstant = Constant::gravity_constant;
this->updateFrameLength = 1.0f / 120.0f;
this->destructionAction = Default::EventAction_Destruction;
this->gravity = ::std::vector<Gravity>();
this->worldScene = Octree();
}
@ -121,6 +123,8 @@ API_Impl::~API_Impl() {}
void API_Impl::Init( unsigned int numObjects, unsigned int numGravityWells , const Float3 &worldSize )
{
unsigned char numLayers = 4; //!< @todo TODO: calc numLayers from worldSize
this->gravity.resize( 0 );
this->gravity.reserve( numGravityWells );
this->worldScene = Octree( numObjects, numLayers, worldSize );
}
@ -153,14 +157,39 @@ float API_Impl::GetFrameTimeLength() const
void API_Impl::Update()
{ /** @todo TODO: Update is a temporary solution .*/
::std::vector<ICustomBody*> updateList;
ICustomBody::State state;
auto proto = this->worldScene.Sample( Universe(), updateList ).begin();
for( ; proto != updateList.end(); ++proto )
{
// Step 1: @todo TODO: Apply Gravity
// Step 1: Apply Gravity
(*proto)->GetState( state );
for( ::std::vector<Gravity>::size_type i = 0; i < this->gravity.size(); ++i )
{
switch( this->gravity[i].gravityType )
{
case Gravity::GravityType_Well:
{
Float4 d = state.GetCenterPosition() - Float4( this->gravity[i].well.position, 1.0f );
Float rSquared = d.Dot( d );
if( rSquared != 0.0 )
{
Float force = Physics3D::Formula::ForceField( this->gravityConstant, state.GetMass(), this->gravity[i].well.mass, rSquared );
state.ApplyLinearImpulse( (this->updateFrameLength * force / ::std::sqrt(rSquared)) * d );
}
break;
}
case Gravity::GravityType_Directed:
state.ApplyLinearImpulse( Float4(this->gravity[i].directed.impulse, 0.0f) );
break;
// case Gravity::GravityType_DirectedField:
// //this->gravity[i].directedField.
// //! TODO: @todo rethink
// break;
default: break;
}
}
(*proto)->SetState( state );
// Step 2: Apply Collision Response
this->worldScene.Visit( *proto, OnPossibleCollision );
@ -213,6 +242,24 @@ void API_Impl::DestroyObject( const ICustomBody* objRef )
}
}
void API_Impl::AddGravity( const API::Gravity &g )
{
this->gravity.push_back( g );
}
void API_Impl::RemoveGravity( const API::Gravity &g )
{
for( ::std::vector<Gravity>::size_type i = this->gravity.size() - 1; i >= 0; --i )
{
if( g == this->gravity[i] )
{
int end = this->gravity.size() - 1;
this->gravity[i] = this->gravity[end];
this->gravity.resize( end );
}
}
}
//void API_Impl::ApplyForceAt( const ICustomBody* objRef, const Float3 &worldPos, const Float3 &worldF )
//{
// unsigned int tempRef = this->worldScene.GetTemporaryReferenceOf( objRef );

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@ -32,6 +32,9 @@ namespace Oyster
::Utility::DynamicMemory::UniquePointer<ICustomBody> ExtractObject( const ICustomBody* objRef );
void DestroyObject( const ICustomBody* objRef );
void AddGravity( const Gravity &g );
void RemoveGravity( const Gravity &g );
//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 );
@ -49,6 +52,7 @@ namespace Oyster
private:
::Oyster::Math::Float gravityConstant, updateFrameLength;
EventAction_Destruction destructionAction;
::std::vector<Gravity> gravity;
Octree worldScene;
};

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@ -22,6 +22,7 @@ namespace Oyster
struct SimpleBodyDescription;
struct SphericalBodyDescription;
struct CustomBodyState;
struct Gravity;
}
enum UpdateState
@ -40,6 +41,7 @@ namespace Oyster
public:
typedef Struct::SimpleBodyDescription SimpleBodyDescription;
typedef Struct::SphericalBodyDescription SphericalBodyDescription;
typedef Struct::Gravity Gravity;
typedef void (*EventAction_Destruction)( ::Utility::DynamicMemory::UniquePointer<ICustomBody> proto );
@ -124,6 +126,16 @@ namespace Oyster
********************************************************/
virtual void DestroyObject( const ICustomBody* objRef ) = 0;
/********************************************************
* TODO: @todo doc
********************************************************/
virtual void AddGravity( const Gravity &g ) = 0;
/********************************************************
* TODO: @todo doc
********************************************************/
virtual void RemoveGravity( const Gravity &g ) = 0;
///********************************************************
// * Apply force on an object.
// * @param objRef: A pointer to the ICustomBody representing a physical object.

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@ -273,6 +273,22 @@ namespace Oyster { namespace Physics3D
return momentOfInertia * angularImpulseAcceleration;
}
/******************************************************************
* @todo TODO: doc
******************************************************************/
inline ::Oyster::Math::Float ForceField( ::Oyster::Math::Float g, ::Oyster::Math::Float massA, ::Oyster::Math::Float massB, ::Oyster::Math::Float radiusSquared )
{
return g * massA * massB / radiusSquared;
}
/******************************************************************
* @todo TODO: doc
******************************************************************/
inline ::Oyster::Math::Float ForceField( ::Oyster::Math::Float g, ::Oyster::Math::Float massA, ::Oyster::Math::Float massB, const ::Oyster::Math::Float4 &deltaPos )
{
return g * massA * massB / deltaPos.Dot( deltaPos );
}
namespace MomentOfInertia
{ /// Library of Formulas to calculate moment of inerta for simple shapes
/** @todo TODO: add MomentOfInertia tensor formulas */