Danbias/Code/GamePhysics/PhysicsFormula-Impl.h

75 lines
2.7 KiB
C++

#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);
}
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;
}
}
} } }
#endif