328 lines
10 KiB
C++
328 lines
10 KiB
C++
#ifndef PHYSICS_STRUCTS_IMPL_H
|
|
#define PHYSICS_STRUCTS_IMPL_H
|
|
|
|
#include "PhysicsStructs.h"
|
|
|
|
namespace Oyster { namespace Physics
|
|
{
|
|
namespace Struct
|
|
{
|
|
inline SimpleBodyDescription::SimpleBodyDescription()
|
|
{
|
|
this->rotation = ::Oyster::Math::Float4x4::identity;
|
|
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;
|
|
this->ignoreGravity = false;
|
|
}
|
|
|
|
inline SphericalBodyDescription::SphericalBodyDescription()
|
|
{
|
|
this->rotation = ::Oyster::Math::Float4x4::identity;
|
|
this->centerPosition = ::Oyster::Math::Float4::null;
|
|
this->radius = 0.5f;
|
|
this->mass = 10.0f;
|
|
this->subscription = NULL;
|
|
this->ignoreGravity = false;
|
|
}
|
|
|
|
inline CustomBodyState::CustomBodyState( ::Oyster::Math::Float mass, ::Oyster::Math::Float restitutionCoeff, ::Oyster::Math::Float staticFrictionCoeff, ::Oyster::Math::Float kineticFrictionCoeff, const ::Oyster::Math::Float4x4 &inertiaTensor, const ::Oyster::Math::Float4 &reach, const ::Oyster::Math::Float4 ¢erPos, const ::Oyster::Math::Float4 &rotation, const ::Oyster::Math::Float4 &linearMomentum, const ::Oyster::Math::Float4 &angularMomentum )
|
|
{
|
|
this->mass = mass;
|
|
this->restitutionCoeff = restitutionCoeff;
|
|
this->staticFrictionCoeff = staticFrictionCoeff;
|
|
this->kineticFrictionCoeff = kineticFrictionCoeff;
|
|
this->inertiaTensor = inertiaTensor;
|
|
this->reach = reach;
|
|
this->centerPos = centerPos;
|
|
this->angularAxis = rotation;
|
|
this->linearMomentum = linearMomentum;
|
|
this->angularMomentum = angularMomentum;
|
|
this->linearImpulse = this->angularImpulse = ::Oyster::Math::Float4::null;
|
|
this->deltaPos = this->deltaAxis = ::Oyster::Math::Float4::null;
|
|
this->isSpatiallyAltered = this->isDisturbed = this->isForwarded = false;
|
|
}
|
|
|
|
inline CustomBodyState & CustomBodyState::operator = ( const CustomBodyState &state )
|
|
{
|
|
this->mass = state.mass;
|
|
this->restitutionCoeff = state.restitutionCoeff;
|
|
this->staticFrictionCoeff = state.staticFrictionCoeff;
|
|
this->kineticFrictionCoeff = state.kineticFrictionCoeff;
|
|
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->deltaPos = state.deltaPos;
|
|
this->deltaAxis = state.deltaAxis;
|
|
this->isSpatiallyAltered = state.isSpatiallyAltered;
|
|
this->isDisturbed = state.isDisturbed;
|
|
this->isForwarded = state.isForwarded;
|
|
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_Static() const
|
|
{
|
|
return this->staticFrictionCoeff;
|
|
}
|
|
|
|
inline const ::Oyster::Math::Float CustomBodyState::GetFrictionCoeff_Kinetic() const
|
|
{
|
|
return this->kineticFrictionCoeff;
|
|
}
|
|
|
|
inline const ::Oyster::Math::Float4x4 & CustomBodyState::GetMomentOfInertia() const
|
|
{
|
|
return this->inertiaTensor;
|
|
}
|
|
|
|
inline const ::Oyster::Math::Float4 & CustomBodyState::GetReach() const
|
|
{
|
|
return this->reach;
|
|
}
|
|
|
|
inline ::Oyster::Math::Float4 CustomBodyState::GetSize() const
|
|
{
|
|
return 2.0f * this->GetReach();
|
|
}
|
|
|
|
inline const ::Oyster::Math::Float4 & CustomBodyState::GetCenterPosition() const
|
|
{
|
|
return this->centerPos;
|
|
}
|
|
|
|
inline const ::Oyster::Math::Float4 & CustomBodyState::GetAngularAxis() const
|
|
{
|
|
return this->angularAxis;
|
|
}
|
|
|
|
inline ::Oyster::Math::Float4x4 CustomBodyState::GetRotation() const
|
|
{
|
|
return ::Oyster::Math3D::RotationMatrix( this->GetAngularAxis().xyz );
|
|
}
|
|
|
|
inline ::Oyster::Math::Float4x4 CustomBodyState::GetOrientation() const
|
|
{
|
|
return ::Oyster::Math3D::OrientationMatrix( this->angularAxis.xyz, this->centerPos.xyz );
|
|
}
|
|
|
|
inline ::Oyster::Math::Float4x4 CustomBodyState::GetView() const
|
|
{
|
|
return ::Oyster::Math3D::ViewMatrix( this->angularAxis.xyz, this->centerPos.xyz );
|
|
}
|
|
|
|
inline const ::Oyster::Math::Float4 & CustomBodyState::GetLinearMomentum() const
|
|
{
|
|
return this->linearMomentum;
|
|
}
|
|
|
|
inline ::Oyster::Math::Float4 CustomBodyState::GetLinearMomentum( const ::Oyster::Math::Float4 &at ) const
|
|
{
|
|
//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
|
|
{
|
|
return this->angularMomentum;
|
|
}
|
|
|
|
inline const ::Oyster::Math::Float4 & CustomBodyState::GetLinearImpulse() const
|
|
{
|
|
return this->linearImpulse;
|
|
}
|
|
|
|
inline const ::Oyster::Math::Float4 & CustomBodyState::GetAngularImpulse() const
|
|
{
|
|
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;
|
|
}
|
|
|
|
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 staticU, ::Oyster::Math::Float kineticU )
|
|
{
|
|
this->staticFrictionCoeff = staticU;
|
|
this->kineticFrictionCoeff = kineticU;
|
|
}
|
|
|
|
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::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::Float4 ¢erPos )
|
|
{
|
|
this->centerPos.xyz = centerPos;
|
|
this->isSpatiallyAltered = this->isDisturbed = true;
|
|
}
|
|
|
|
inline void CustomBodyState::SetRotation( const ::Oyster::Math::Float4 &angularAxis )
|
|
{
|
|
this->angularAxis.xyz = angularAxis;
|
|
this->isSpatiallyAltered = this->isDisturbed = true;
|
|
}
|
|
|
|
inline void CustomBodyState::SetRotation( const ::Oyster::Math::Float4x4 &rotation )
|
|
{
|
|
this->SetRotation( ::Oyster::Math3D::AngularAxis(rotation) );
|
|
}
|
|
|
|
inline void CustomBodyState::SetOrientation( const ::Oyster::Math::Float4x4 &orientation )
|
|
{
|
|
this->SetRotation( ::Oyster::Math3D::ExtractAngularAxis(orientation) );
|
|
this->SetCenterPosition( orientation.v[3] );
|
|
}
|
|
|
|
inline void CustomBodyState::SetLinearMomentum( const ::Oyster::Math::Float4 &g )
|
|
{
|
|
this->linearMomentum.xyz = g;
|
|
this->isDisturbed = true;
|
|
}
|
|
|
|
inline void CustomBodyState::SetAngularMomentum( const ::Oyster::Math::Float4 &h )
|
|
{
|
|
this->angularMomentum.xyz = h;
|
|
this->isDisturbed = true;
|
|
}
|
|
|
|
inline void CustomBodyState::SetLinearImpulse( const ::Oyster::Math::Float4 &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 )
|
|
{
|
|
//::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;
|
|
}
|
|
|
|
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;
|
|
}
|
|
|
|
inline bool CustomBodyState::IsDisturbed() const
|
|
{
|
|
return this->isDisturbed;
|
|
}
|
|
|
|
inline bool CustomBodyState::IsForwarded() const
|
|
{
|
|
return this->isForwarded;
|
|
}
|
|
}
|
|
} }
|
|
|
|
#endif |