405 lines
13 KiB
C++
405 lines
13 KiB
C++
#include "SphericalRigidBody.h"
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#include "PhysicsAPI_Impl.h"
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using namespace ::Oyster::Physics;
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using namespace ::Oyster::Physics3D;
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using namespace ::Oyster::Math3D;
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using namespace ::Oyster::Collision3D;
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using namespace ::Utility::DynamicMemory;
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using namespace ::Utility::Value;
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SphericalRigidBody::SphericalRigidBody()
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{
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this->rigid = RigidBody();
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this->rigid.SetMass_KeepMomentum( 16.0f );
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this->gravityNormal = Float3::null;
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this->onCollision = Default::EventAction_BeforeCollisionResponse;
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this->onCollisionResponse = Default::EventAction_AfterCollisionResponse;
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this->onMovement = Default::EventAction_Move;
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this->collisionRebound.previousSpatial.center = this->rigid.centerPos;
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this->collisionRebound.previousSpatial.axis = this->rigid.axis;
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this->collisionRebound.previousSpatial.reach = this->rigid.boundingReach;
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this->collisionRebound.timeOfContact = 1.0f;
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this->scene = nullptr;
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this->customTag = nullptr;
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this->ignoreGravity = this->isForwarded = false;
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}
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SphericalRigidBody::SphericalRigidBody( const API::SphericalBodyDescription &desc )
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{
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this->rigid = RigidBody();
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this->rigid.SetRotation( desc.rotation );
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this->rigid.centerPos = desc.centerPosition;
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this->rigid.boundingReach = Float4( desc.radius, desc.radius, desc.radius, 0.0f );
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this->rigid.restitutionCoeff = desc.restitutionCoeff;
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this->rigid.frictionCoeff_Static = desc.frictionCoeff_Static;
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this->rigid.frictionCoeff_Kinetic = desc.frictionCoeff_Dynamic;
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this->rigid.SetMass_KeepMomentum( desc.mass );
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this->rigid.SetMomentOfInertia_KeepMomentum( MomentOfInertia::Sphere(desc.mass, desc.radius) );
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this->deltaPos = Float4::null;
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this->deltaAxis = Float4::null;
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this->gravityNormal = Float3::null;
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this->collisionRebound.previousSpatial.center = this->rigid.centerPos;
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this->collisionRebound.previousSpatial.axis = this->rigid.axis;
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this->collisionRebound.previousSpatial.reach = this->rigid.boundingReach;
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this->collisionRebound.timeOfContact = 1.0f;
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if( desc.subscription_onCollision )
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{
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this->onCollision = desc.subscription_onCollision;
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}
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else
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{
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this->onCollision = Default::EventAction_BeforeCollisionResponse;
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}
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if( desc.subscription_onCollisionResponse )
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{
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this->onCollisionResponse = desc.subscription_onCollisionResponse;
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}
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else
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{
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this->onCollisionResponse = Default::EventAction_AfterCollisionResponse;
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}
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if( desc.subscription_onMovement )
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{
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this->onMovement= desc.subscription_onMovement;
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}
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else
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{
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this->onMovement = Default::EventAction_Move;
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}
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this->scene = nullptr;
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this->customTag = nullptr;
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this->ignoreGravity = desc.ignoreGravity;
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this->collisionRebound.previousSpatial.center = this->rigid.centerPos;
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this->collisionRebound.previousSpatial.axis = this->rigid.axis;
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this->collisionRebound.previousSpatial.reach = this->rigid.boundingReach;
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this->collisionRebound.timeOfContact = 1.0f;
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}
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SphericalRigidBody::~SphericalRigidBody() {}
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UniquePointer<ICustomBody> SphericalRigidBody::Clone() const
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{
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return new SphericalRigidBody( *this );
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}
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SphericalRigidBody::State SphericalRigidBody::GetState() const
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{
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return State( this->rigid.GetMass(), this->rigid.restitutionCoeff,
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this->rigid.frictionCoeff_Static, this->rigid.frictionCoeff_Kinetic,
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this->rigid.GetMomentOfInertia(), this->rigid.boundingReach,
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this->rigid.centerPos, this->rigid.axis,
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this->rigid.momentum_Linear, this->rigid.momentum_Angular );
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}
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SphericalRigidBody::State & SphericalRigidBody::GetState( SphericalRigidBody::State &targetMem ) const
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{
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return targetMem = State( this->rigid.GetMass(), this->rigid.restitutionCoeff,
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this->rigid.frictionCoeff_Static, this->rigid.frictionCoeff_Kinetic,
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this->rigid.GetMomentOfInertia(), this->rigid.boundingReach,
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this->rigid.centerPos, this->rigid.axis,
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this->rigid.momentum_Linear, this->rigid.momentum_Angular );
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}
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void SphericalRigidBody::SetState( const SphericalRigidBody::State &state )
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{
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this->rigid.centerPos = state.GetCenterPosition();
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this->rigid.axis = state.GetAngularAxis();
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this->rigid.boundingReach = state.GetReach();
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this->rigid.momentum_Linear = state.GetLinearMomentum();
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this->rigid.momentum_Angular = state.GetAngularMomentum();
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this->rigid.impulse_Linear += state.GetLinearImpulse();
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this->rigid.impulse_Angular += state.GetAngularImpulse();
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this->rigid.restitutionCoeff = state.GetRestitutionCoeff();
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this->rigid.frictionCoeff_Static = state.GetFrictionCoeff_Static();
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this->rigid.frictionCoeff_Kinetic = state.GetFrictionCoeff_Kinetic();
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this->rigid.SetMass_KeepMomentum( state.GetMass() );
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this->rigid.SetMomentOfInertia_KeepMomentum( state.GetMomentOfInertia() );
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this->rigid.gravityNormal = state.GetGravityNormal();
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if( state.IsForwarded() )
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{
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this->deltaPos += Float4(state.GetForward_DeltaPos(), 0);
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this->deltaAxis += Float4(state.GetForward_DeltaAxis());
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this->isForwarded = false;
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}
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if( this->scene )
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{
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if( state.IsSpatiallyAltered() )
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{
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unsigned int tempRef = this->scene->GetTemporaryReferenceOf( this );
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this->scene->SetAsAltered( tempRef );
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this->scene->EvaluatePosition( tempRef );
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}
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else if( state.IsDisturbed() )
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{
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this->scene->SetAsAltered( this->scene->GetTemporaryReferenceOf(this) );
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}
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}
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}
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ICustomBody::SubscriptMessage SphericalRigidBody::CallSubscription_BeforeCollisionResponse( const ICustomBody *deuter )
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{
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return this->onCollision( this, deuter );
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}
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void SphericalRigidBody::CallSubscription_AfterCollisionResponse( const ICustomBody *deuter, Float kineticEnergyLoss )
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{
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this->onCollisionResponse( this, deuter, kineticEnergyLoss);
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}
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void SphericalRigidBody::CallSubscription_Move()
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{
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this->onMovement( this );
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}
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bool SphericalRigidBody::IsAffectedByGravity() const
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{
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return !this->ignoreGravity;
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}
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bool SphericalRigidBody::Intersects( const ICollideable &shape ) const
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{
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return Sphere( this->rigid.centerPos, this->rigid.boundingReach.x ).Intersects( shape );
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}
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bool SphericalRigidBody::Intersects( const ICollideable &shape, Float4 &worldPointOfContact ) const
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{
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return Sphere( this->rigid.centerPos, this->rigid.boundingReach.x ).Intersects( shape, worldPointOfContact );
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}
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bool SphericalRigidBody::Intersects( const ICustomBody &object, Float4 &worldPointOfContact ) const
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{
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return object.Intersects( Sphere(this->rigid.centerPos, this->rigid.boundingReach.x), worldPointOfContact );
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}
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void SphericalRigidBody::SetTimeOfContact( Float4 &worldPointOfContact )
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{
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Point pointOfContact = Point( worldPointOfContact );
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Sphere start = Sphere( this->collisionRebound.previousSpatial.center, this->collisionRebound.previousSpatial.reach.x );
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Sphere end = Sphere( this->rigid.centerPos, this->rigid.boundingReach.x );
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Float timeOfContact = ::Oyster::Collision3D::Utility::TimeOfContact( start, end, pointOfContact );
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this->collisionRebound.timeOfContact = Min( this->collisionRebound.timeOfContact, timeOfContact );
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}
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Sphere & SphericalRigidBody::GetBoundingSphere( Sphere &targetMem ) const
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{
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return targetMem = Sphere( this->rigid.centerPos, this->rigid.boundingReach.x );
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}
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Float4 & SphericalRigidBody::GetNormalAt( const Float4 &worldPos, Float4 &targetMem ) const
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{
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targetMem = Float4( worldPos.xyz - this->rigid.centerPos, 0);
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Float magnitude = targetMem.GetMagnitude();
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if( magnitude != 0.0f )
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{ // sanity check
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targetMem.Normalize();
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}
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return targetMem;
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}
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Float3 & SphericalRigidBody::GetGravityNormal( Float3 &targetMem ) const
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{
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return targetMem = this->gravityNormal;
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}
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void * SphericalRigidBody::GetCustomTag() const
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{
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return this->customTag;
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}
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//Float3 & SphericalRigidBody::GetCenter( Float3 &targetMem ) const
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//{
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// return targetMem = this->rigid.centerPos;
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//}
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//
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//Float4x4 & SphericalRigidBody::GetRotation( Float4x4 &targetMem ) const
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//{
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// return targetMem = this->rigid.box.rotation;
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//}
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//
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//Float4x4 & SphericalRigidBody::GetOrientation( Float4x4 &targetMem ) const
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//{
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// return targetMem = this->rigid.GetOrientation();
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//}
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//
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//Float4x4 & SphericalRigidBody::GetView( Float4x4 &targetMem ) const
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//{
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// return targetMem = this->rigid.GetView();
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//}
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//Float3 SphericalRigidBody::GetRigidLinearVelocity() const
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//{
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// return this->rigid.GetLinearVelocity();
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//}
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UpdateState SphericalRigidBody::Update( Float timeStepLength )
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{
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if( this->collisionRebound.timeOfContact < 1.0f )
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{ // Rebound if needed
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this->rigid.centerPos = Lerp( this->collisionRebound.previousSpatial.center, this->rigid.centerPos, this->collisionRebound.timeOfContact );
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this->rigid.SetRotation( Lerp(this->collisionRebound.previousSpatial.axis, this->rigid.axis, this->collisionRebound.timeOfContact) );
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this->rigid.boundingReach = Lerp( this->collisionRebound.previousSpatial.reach, this->rigid.boundingReach, this->collisionRebound.timeOfContact );
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this->collisionRebound.timeOfContact = 1.0f;
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}
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// Maintain rotation resolution by keeping axis within [0, 2pi] (trigonometric methods gets faster too)
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Float4 temp;
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::std::modf( this->rigid.axis * (0.5f / pi), temp.xyz );
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this->rigid.axis -= ((2.0f * pi) * temp).xyz;
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// Update rebound data
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this->collisionRebound.previousSpatial.center = this->rigid.centerPos;
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this->collisionRebound.previousSpatial.axis = this->rigid.axis;
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this->collisionRebound.previousSpatial.reach = this->rigid.boundingReach;
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// Check if this is close enough to be set resting
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temp = Float4( this->rigid.impulse_Linear, 0.0f ) + Float4( this->rigid.impulse_Angular, 0.0f );
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if( temp.Dot(temp) <= (Constant::epsilon * Constant::epsilon) )
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{
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unsigned char resting = 0;
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if( this->rigid.momentum_Linear.Dot(this->rigid.momentum_Linear) <= (Constant::epsilon * Constant::epsilon) )
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{
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this->rigid.momentum_Linear = Float3::null;
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resting = 1;
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}
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if( this->rigid.momentum_Angular.Dot(this->rigid.momentum_Angular) <= (Constant::epsilon * Constant::epsilon) )
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{
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this->rigid.momentum_Angular = Float3::null;
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++resting;
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}
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if( resting == 2 )
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{
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this->rigid.impulse_Linear = this->rigid.impulse_Angular = Float3::null;
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return UpdateState_resting;
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}
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}
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this->rigid.Update_LeapFrog( timeStepLength );
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return UpdateState_altered;
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}
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void SphericalRigidBody::Predict( ::Oyster::Math::Float4 &outDeltaPos, ::Oyster::Math::Float4 &outDeltaAxis, const ::Oyster::Math::Float4 &actingLinearImpulse, const ::Oyster::Math::Float4 &actingAngularImpulse, ::Oyster::Math::Float deltaTime )
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{
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this->rigid.Predict_LeapFrog( outDeltaPos.xyz, outDeltaAxis.xyz, actingLinearImpulse.xyz, actingAngularImpulse.xyz, deltaTime );
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}
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void SphericalRigidBody::SetSubscription( ICustomBody::EventAction_BeforeCollisionResponse functionPointer )
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{
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if( functionPointer )
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{
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this->onCollision = functionPointer;
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}
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else
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{
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this->onCollision = Default::EventAction_BeforeCollisionResponse;
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}
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}
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void SphericalRigidBody::SetSubscription( ICustomBody::EventAction_AfterCollisionResponse functionPointer )
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{
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if( functionPointer )
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{
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this->onCollisionResponse = functionPointer;
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}
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else
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{
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this->onCollisionResponse = Default::EventAction_AfterCollisionResponse;
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}
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}
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void SphericalRigidBody::SetSubscription( ICustomBody::EventAction_Move functionPointer )
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{
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if( functionPointer )
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{
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this->onMovement = functionPointer;
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}
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else
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{
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this->onMovement = Default::EventAction_Move;
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}
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}
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void SphericalRigidBody::SetScene( void *scene )
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{
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this->scene = (Octree*)scene;
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}
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void SphericalRigidBody::SetGravity( bool ignore )
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{
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this->ignoreGravity = ignore;
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this->gravityNormal = Float3::null;
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}
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void SphericalRigidBody::SetGravityNormal( const Float3 &normalizedVector )
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{
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this->gravityNormal = normalizedVector;
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}
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void SphericalRigidBody::SetCustomTag( void *ref )
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{
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this->customTag = ref;
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}
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//void SphericalRigidBody::SetMomentOfInertiaTensor_KeepVelocity( const Float4x4 &localI )
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//{
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// this->rigid.SetMomentOfInertia_KeepVelocity( localI );
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//}
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//
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//void SphericalRigidBody::SetMomentOfInertiaTensor_KeepMomentum( const Float4x4 &localI )
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//{
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// this->rigid.SetMomentOfInertia_KeepMomentum( localI );
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//}
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//
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//void SphericalRigidBody::SetMass_KeepVelocity( Float m )
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//{
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// this->rigid.SetMass_KeepVelocity( m );
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//}
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//
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//void SphericalRigidBody::SetMass_KeepMomentum( Float m )
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//{
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// this->rigid.SetMass_KeepMomentum( m );
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//}
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//
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//void SphericalRigidBody::SetCenter( const Float3 &worldPos )
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//{
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// this->rigid.SetCenter( worldPos );
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// this->body.center = worldPos;
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//}
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//
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//void SphericalRigidBody::SetRotation( const Float4x4 &rotation )
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//{
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// this->rigid.SetRotation( rotation );
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//}
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//
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//void SphericalRigidBody::SetOrientation( const Float4x4 &orientation )
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//{
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// this->rigid.SetOrientation( orientation );
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// this->body.center = orientation.v[3].xyz;
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//}
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//
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//void SphericalRigidBody::SetSize( const Float3 &size )
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//{
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// this->rigid.SetSize( size );
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// this->body.radius = 0.5f * Min( Min( size.x, size.y ), size.z ); // inline Min( FloatN )?
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//}
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//
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//void SphericalRigidBody::SetMomentum( const Float3 &worldG )
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//{
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// this->rigid.SetLinearMomentum( worldG );
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//}
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