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Physics engine now using struct MomentOfInertia 

Some API impact for the other modules.
* Desc. structs
* State struct
This commit is contained in:
Dander7BD 2014-01-23 19:13:02 +01:00
parent c3ed5e78ac
commit ff936133fc
5 changed files with 55 additions and 61 deletions
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2
Code/GamePhysics/Implementation/SphericalRigidBody.cpp
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@ -28,7 +28,7 @@ SphericalRigidBody::SphericalRigidBody( const API::SphericalBodyDescription &des
this->rigid.centerPos = desc.centerPosition;
this->rigid.boundingReach = Float4( desc.radius, desc.radius, desc.radius, 0.0f );
this->rigid.SetMass_KeepMomentum( desc.mass );
this->rigid.SetMomentOfInertia_KeepMomentum( Formula::MomentOfInertia::CreateSphereMatrix( desc.mass, desc.radius ) );
this->rigid.SetMomentOfInertia_KeepMomentum( MomentOfInertia::Sphere(desc.mass, desc.radius) );
this->deltaPos = Float4::null;
this->deltaAxis = Float4::null;

21
Code/GamePhysics/PhysicsStructs-Impl.h
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@ -19,7 +19,7 @@ namespace Oyster
this->restitutionCoeff = 1.0f;
this->frictionCoeff_Dynamic = 0.5f;
this->frictionCoeff_Static = 0.5f;
this->inertiaTensor = ::Oyster::Math::Float4x4::identity;
this->inertiaTensor = ::Oyster::Physics3D::MomentOfInertia();
this->subscription_onCollision = NULL;
this->subscription_onCollisionResponse = NULL;
this->subscription_onMovement = NULL;
@ -41,7 +41,7 @@ namespace Oyster
this->ignoreGravity = false;
}
inline CustomBodyState::CustomBodyState( ::Oyster::Math::Float mass, ::Oyster::Math::Float restitutionCoeff, ::Oyster::Math::Float staticFrictionCoeff, ::Oyster::Math::Float kineticFrictionCoeff, const ::Oyster::Math::Float4x4 &inertiaTensor, const ::Oyster::Math::Float4 &reach, const ::Oyster::Math::Float4 &centerPos, const ::Oyster::Math::Float4 &rotation, const ::Oyster::Math::Float4 &linearMomentum, const ::Oyster::Math::Float4 &angularMomentum, const ::Oyster::Math::Float4 &gravityNormal )
inline CustomBodyState::CustomBodyState( ::Oyster::Math::Float mass, ::Oyster::Math::Float restitutionCoeff, ::Oyster::Math::Float staticFrictionCoeff, ::Oyster::Math::Float kineticFrictionCoeff, const ::Oyster::Physics3D::MomentOfInertia &inertiaTensor, const ::Oyster::Math::Float4 &reach, const ::Oyster::Math::Float4 &centerPos, const ::Oyster::Math::Float4 &rotation, const ::Oyster::Math::Float4 &linearMomentum, const ::Oyster::Math::Float4 &angularMomentum, const ::Oyster::Math::Float4 &gravityNormal )
{
this->mass = mass;
this->restitutionCoeff = restitutionCoeff;
@ -102,7 +102,7 @@ namespace Oyster
return this->kineticFrictionCoeff;
}
inline const ::Oyster::Math::Float4x4 & CustomBodyState::GetMomentOfInertia() const
inline const ::Oyster::Physics3D::MomentOfInertia & CustomBodyState::GetMomentOfInertia() const
{
return this->inertiaTensor;
}
@ -219,20 +219,17 @@ namespace Oyster
this->kineticFrictionCoeff = kineticU;
}
inline void CustomBodyState::SetMomentOfInertia_KeepMomentum( const ::Oyster::Math::Float4x4 &tensor )
inline void CustomBodyState::SetMomentOfInertia_KeepMomentum( const ::Oyster::Physics3D::MomentOfInertia &tensor )
{
this->inertiaTensor = tensor;
}
inline void CustomBodyState::SetMomentOfInertia_KeepVelocity( const ::Oyster::Math::Float4x4 &tensor )
inline void CustomBodyState::SetMomentOfInertia_KeepVelocity( const ::Oyster::Physics3D::MomentOfInertia &tensor )
{
if( tensor.GetDeterminant() != 0.0f )
{ // sanity block!
::Oyster::Math::Float4x4 rotation = ::Oyster::Math3D::RotationMatrix(this->angularAxis.xyz);
::Oyster::Math::Float4 w = ::Oyster::Physics3D::Formula::AngularVelocity( (rotation * this->inertiaTensor).GetInverse(), this->angularMomentum );
this->inertiaTensor = tensor;
this->angularMomentum = ::Oyster::Physics3D::Formula::AngularMomentum( rotation * tensor, w );
}
::Oyster::Math::Quaternion rotation = ::Oyster::Math3D::Rotation(this->angularAxis);
::Oyster::Math::Float4 w = this->inertiaTensor.CalculateAngularVelocity( rotation, this->angularMomentum );
this->inertiaTensor = tensor;
this->angularMomentum = this->inertiaTensor.CalculateAngularMomentum( rotation, w );
}
inline void CustomBodyState::SetSize( const ::Oyster::Math::Float4 &size )

13
Code/GamePhysics/PhysicsStructs.h
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@ -3,6 +3,7 @@
#include "OysterMath.h"
#include "PhysicsAPI.h"
#include "Inertia.h"
namespace Oyster { namespace Physics
{
@ -17,7 +18,7 @@ namespace Oyster { namespace Physics
::Oyster::Math::Float restitutionCoeff;
::Oyster::Math::Float frictionCoeff_Static;
::Oyster::Math::Float frictionCoeff_Dynamic;
::Oyster::Math::Float4x4 inertiaTensor;
::Oyster::Physics3D::MomentOfInertia inertiaTensor;
::Oyster::Physics::ICustomBody::EventAction_Collision subscription_onCollision;
::Oyster::Physics::ICustomBody::EventAction_CollisionResponse subscription_onCollisionResponse;
::Oyster::Physics::ICustomBody::EventAction_Move subscription_onMovement;
@ -50,7 +51,7 @@ namespace Oyster { namespace Physics
::Oyster::Math::Float restitutionCoeff = 1.0f,
::Oyster::Math::Float staticFrictionCoeff = 1.0f,
::Oyster::Math::Float kineticFrictionCoeff = 1.0f,
const ::Oyster::Math::Float4x4 &inertiaTensor = ::Oyster::Math::Float4x4::identity,
const ::Oyster::Physics3D::MomentOfInertia &inertiaTensor = ::Oyster::Physics3D::MomentOfInertia(),
const ::Oyster::Math::Float4 &reach = ::Oyster::Math::Float4::null,
const ::Oyster::Math::Float4 &centerPos = ::Oyster::Math::Float4::standard_unit_w,
const ::Oyster::Math::Float4 &rotation = ::Oyster::Math::Float4::null,
@ -64,7 +65,7 @@ namespace Oyster { namespace Physics
const ::Oyster::Math::Float GetRestitutionCoeff() const;
const ::Oyster::Math::Float GetFrictionCoeff_Static() const;
const ::Oyster::Math::Float GetFrictionCoeff_Kinetic() const;
const ::Oyster::Math::Float4x4 & GetMomentOfInertia() const;
const ::Oyster::Physics3D::MomentOfInertia & GetMomentOfInertia() const;
const ::Oyster::Math::Float4 & GetReach() const;
::Oyster::Math::Float4 GetSize() const;
const ::Oyster::Math::Float4 & GetCenterPosition() const;
@ -87,8 +88,8 @@ namespace Oyster { namespace Physics
void SetMass_KeepVelocity( ::Oyster::Math::Float m );
void SetRestitutionCoeff( ::Oyster::Math::Float e );
void SetFrictionCoeff( ::Oyster::Math::Float staticU, ::Oyster::Math::Float kineticU );
void SetMomentOfInertia_KeepMomentum( const ::Oyster::Math::Float4x4 &tensor );
void SetMomentOfInertia_KeepVelocity( const ::Oyster::Math::Float4x4 &tensor );
void SetMomentOfInertia_KeepMomentum( const ::Oyster::Physics3D::MomentOfInertia &tensor );
void SetMomentOfInertia_KeepVelocity( const ::Oyster::Physics3D::MomentOfInertia &tensor );
void SetSize( const ::Oyster::Math::Float4 &size );
void SetReach( const ::Oyster::Math::Float4 &halfSize );
void SetCenterPosition( const ::Oyster::Math::Float4 &centerPos );
@ -115,7 +116,7 @@ namespace Oyster { namespace Physics
private:
::Oyster::Math::Float mass, restitutionCoeff, staticFrictionCoeff, kineticFrictionCoeff;
::Oyster::Math::Float4x4 inertiaTensor;
::Oyster::Physics3D::MomentOfInertia inertiaTensor;
::Oyster::Math::Float4 reach, centerPos, angularAxis;
::Oyster::Math::Float4 linearMomentum, angularMomentum;
::Oyster::Math::Float4 linearImpulse, angularImpulse;

46
Code/OysterPhysics3D/RigidBody.cpp
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@ -23,7 +23,7 @@ RigidBody::RigidBody( )
this->frictionCoeff_Static = 0.5f;
this->frictionCoeff_Kinetic = 1.0f;
this->mass = 10;
this->momentOfInertiaTensor = Float4x4::identity;
this->momentOfInertiaTensor = MomentOfInertia();
this->rotation = Quaternion::identity;
}
@ -53,15 +53,16 @@ void RigidBody::Update_LeapFrog( Float updateFrameLength )
this->centerPos += ( updateFrameLength / this->mass ) * AverageWithDelta( this->momentum_Linear, this->impulse_Linear );
// updating the angular
Float4x4 rotationMatrix; ::Oyster::Math3D::RotationMatrix( this->rotation, rotationMatrix );
//Float4x4 rotationMatrix; ::Oyster::Math3D::RotationMatrix( this->rotation, rotationMatrix );
// Important! The member data is all world data except the Inertia tensor. Thus a new InertiaTensor needs to be created to be compatible with the rest of the world data.
Float4x4 wMomentOfInertiaTensor = TransformMatrix( rotationMatrix, this->momentOfInertiaTensor ); // RI
//Float4x4 wMomentOfInertiaTensor = TransformMatrix( rotationMatrix, this->momentOfInertiaTensor ); // RI
// dO = dt * Formula::AngularVelocity( (RI)^-1, avg_H ) = dt * (RI)^-1 * avg_H
//! HACK: @todo Rotation temporary disabled
//this->axis += Radian( Formula::AngularVelocity(wMomentOfInertiaTensor.GetInverse(), AverageWithDelta(this->momentum_Angular, this->impulse_Angular)) );
//this->rotation = Rotation( this->axis );
this->axis += this->momentOfInertiaTensor.CalculateAngularVelocity( this->rotation, AverageWithDelta(this->momentum_Angular, this->impulse_Angular) );
this->rotation = Rotation( this->axis );
// update momentums and clear impulse_Linear and impulse_Angular
this->momentum_Linear += this->impulse_Linear;
@ -78,11 +79,12 @@ void RigidBody::Predict_LeapFrog( Float4 &outDeltaPos, Float4 &outDeltaAxis, con
outDeltaPos = ( deltaTime / this->mass ) * AverageWithDelta( this->momentum_Linear, actingLinearImpulse );
// updating the angular
Float4x4 rotationMatrix; ::Oyster::Math3D::RotationMatrix( this->rotation, rotationMatrix );
Float4x4 wMomentOfInertiaTensor = TransformMatrix( rotationMatrix, this->momentOfInertiaTensor ); // RI
//Float4x4 rotationMatrix; ::Oyster::Math3D::RotationMatrix( this->rotation, rotationMatrix );
//Float4x4 wMomentOfInertiaTensor = TransformMatrix( rotationMatrix, this->momentOfInertiaTensor ); // RI
// dO = dt * Formula::AngularVelocity( (RI)^-1, avg_H ) = dt * (RI)^-1 * avg_H
outDeltaAxis = Formula::AngularVelocity( wMomentOfInertiaTensor.GetInverse(), AverageWithDelta(this->momentum_Angular, actingAngularImpulse) );
//outDeltaAxis = Formula::AngularVelocity( wMomentOfInertiaTensor.GetInverse(), AverageWithDelta(this->momentum_Angular, actingAngularImpulse) );
outDeltaAxis = this->momentOfInertiaTensor.CalculateAngularVelocity( this->rotation, AverageWithDelta(this->momentum_Angular, this->impulse_Angular) );
}
void RigidBody::Move( const Float4 &deltaPos, const Float4 &deltaAxis )
@ -106,7 +108,7 @@ void RigidBody::ApplyImpulse( const Float4 &worldJ, const Float4 &atWorldPos )
}
}
const Float4x4 & RigidBody::GetMomentOfInertia() const
const MomentOfInertia & RigidBody::GetMomentOfInertia() const
{ // by Dan Andersson
return this->momentOfInertiaTensor;
}
@ -143,7 +145,7 @@ Float4 RigidBody::GetVelocity_Linear() const
Float4 RigidBody::GetVelocity_Angular() const
{ // by Dan Andersson
return Formula::AngularVelocity( this->momentOfInertiaTensor.GetInverse(), this->momentum_Angular );
return this->momentOfInertiaTensor.CalculateAngularVelocity( this->rotation, this->momentum_Angular );
}
Float4 RigidBody::GetLinearMomentum( const Float4 &atWorldPos ) const
@ -151,24 +153,16 @@ Float4 RigidBody::GetLinearMomentum( const Float4 &atWorldPos ) const
return this->momentum_Linear + Formula::TangentialLinearMomentum( this->momentum_Angular, atWorldPos - this->centerPos );
}
void RigidBody::SetMomentOfInertia_KeepVelocity( const Float4x4 &localTensorI )
void RigidBody::SetMomentOfInertia_KeepVelocity( const MomentOfInertia &localTensorI )
{ // by Dan Andersson
if( localTensorI.GetDeterminant() != 0.0f )
{ // insanity check! MomentOfInertiaTensor must be invertable
Float4x4 rotationMatrix; RotationMatrix( this->rotation, rotationMatrix );
Float4 w = Formula::AngularVelocity( (rotationMatrix * this->momentOfInertiaTensor).GetInverse(), this->momentum_Angular );
this->momentOfInertiaTensor = localTensorI;
this->momentum_Angular = Formula::AngularMomentum( rotationMatrix * localTensorI, w );
}
Float4 w = this->momentOfInertiaTensor.CalculateAngularVelocity( this->rotation, this->momentum_Angular );
this->momentOfInertiaTensor = localTensorI;
this->momentum_Angular = this->momentOfInertiaTensor.CalculateAngularVelocity( this->rotation, w );
}
void RigidBody::SetMomentOfInertia_KeepMomentum( const Float4x4 &localTensorI )
void RigidBody::SetMomentOfInertia_KeepMomentum( const MomentOfInertia &localTensorI )
{ // by Dan Andersson
if( localTensorI.GetDeterminant() != 0.0f )
{ // insanity check! MomentOfInertiaTensor must be invertable
this->momentOfInertiaTensor = localTensorI;
}
this->momentOfInertiaTensor = localTensorI;
}
void RigidBody::SetMass_KeepVelocity( const Float &m )
@ -217,13 +211,13 @@ void RigidBody::SetVelocity_Linear( const Float4 &worldV )
void RigidBody::SetVelocity_Linear( const Float4 &worldV, const Float4 &atWorldPos )
{ // by Dan Andersson
Float4 worldOffset = atWorldPos - this->centerPos;
this->momentum_Linear = Formula::LinearMomentum( this->mass, VectorProjection(worldV, worldOffset) );
this->momentum_Angular = Formula::AngularMomentum( RotationMatrix(this->rotation) * this->momentOfInertiaTensor, Formula::AngularVelocity(worldV, worldOffset) );
this->momentum_Linear = Formula::LinearMomentum( this->mass, VectorProjection(worldV, worldOffset) );
this->momentum_Angular = this->momentOfInertiaTensor.CalculateAngularMomentum( this->rotation, Formula::AngularVelocity(worldV, worldOffset) );
}
void RigidBody::SetVelocity_Angular( const Float4 &worldW )
{ // by Dan Andersson
this->momentum_Angular = Formula::AngularMomentum( this->momentOfInertiaTensor, worldW );
this->momentum_Angular = this->momentOfInertiaTensor.CalculateAngularMomentum( this->rotation, worldW );
}
void RigidBody::SetImpulse_Linear( const Float4 &worldJ, const Float4 &atWorldPos )

32
Code/OysterPhysics3D/RigidBody.h
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@ -8,6 +8,7 @@
#include "OysterMath.h"
#include "OysterCollision3D.h"
#include "OysterPhysics3D.h"
#include "Inertia.h"
namespace Oyster { namespace Physics3D
{
@ -42,23 +43,23 @@ namespace Oyster { namespace Physics3D
// GET METHODS ////////////////////////////////
const ::Oyster::Math::Float4x4 & GetMomentOfInertia() const;
::Oyster::Math::Float GetMass() const;
const ::Oyster::Math::Quaternion & GetRotation() const;
::Oyster::Math::Float4x4 GetRotationMatrix() const;
::Oyster::Math::Float4x4 GetOrientation() const;
::Oyster::Math::Float4x4 GetView() const;
::Oyster::Math::Float4x4 GetToWorldMatrix() const;
::Oyster::Math::Float4x4 GetToLocalMatrix() const;
::Oyster::Math::Float4 GetSize() const;
::Oyster::Math::Float4 GetVelocity_Linear() const;
::Oyster::Math::Float4 GetVelocity_Angular() const;
::Oyster::Math::Float4 GetLinearMomentum( const ::Oyster::Math::Float4 &atWorldPos ) const;
const ::Oyster::Physics3D::MomentOfInertia & GetMomentOfInertia() const;
::Oyster::Math::Float GetMass() const;
const ::Oyster::Math::Quaternion & 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 &localTensorI );
void SetMomentOfInertia_KeepMomentum( const ::Oyster::Math::Float4x4 &localTensorI );
void SetMomentOfInertia_KeepVelocity( const ::Oyster::Physics3D::MomentOfInertia &localTensorI );
void SetMomentOfInertia_KeepMomentum( const ::Oyster::Physics3D::MomentOfInertia &localTensorI );
void SetMass_KeepVelocity( const ::Oyster::Math::Float &m );
void SetMass_KeepMomentum( const ::Oyster::Math::Float &m );
@ -78,7 +79,8 @@ namespace Oyster { namespace Physics3D
private:
::Oyster::Math::Float mass; //!< m (kg)
::Oyster::Math::Float4x4 momentOfInertiaTensor; //!< I (Nm*s) Tensor matrix ( only need to be 3x3 matrix, but is 4x4 for future hardware acceleration ) (localValue)
//::Oyster::Math::Float4x4 momentOfInertiaTensor; //!< I (Nm*s) Tensor matrix ( only need to be 3x3 matrix, but is 4x4 for future hardware acceleration ) (localValue)
::Oyster::Physics3D::MomentOfInertia momentOfInertiaTensor;
::Oyster::Math::Quaternion rotation; //!< RotationAxis of the body.
};
} }