111 lines
4.5 KiB
C++
111 lines
4.5 KiB
C++
#ifndef PHYSICS_STRUCTS_H
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#define PHYSICS_STRUCTS_H
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#include "OysterMath.h"
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#include "PhysicsAPI.h"
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namespace Oyster { namespace Physics
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{
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namespace Struct
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{
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struct SimpleBodyDescription
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{
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::Oyster::Math::Float4x4 rotation;
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::Oyster::Math::Float4 centerPosition;
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::Oyster::Math::Float4 size;
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::Oyster::Math::Float mass;
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::Oyster::Math::Float4x4 inertiaTensor;
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::Oyster::Physics::ICustomBody::EventAction_Collision subscription;
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bool ignoreGravity;
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SimpleBodyDescription();
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};
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struct SphericalBodyDescription
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{
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::Oyster::Math::Float4x4 rotation;
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::Oyster::Math::Float4 centerPosition;
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::Oyster::Math::Float radius;
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::Oyster::Math::Float mass;
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::Oyster::Physics::ICustomBody::EventAction_Collision subscription;
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bool ignoreGravity;
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SphericalBodyDescription();
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};
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struct CustomBodyState
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{
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public:
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CustomBodyState( ::Oyster::Math::Float mass = 1.0f,
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::Oyster::Math::Float restitutionCoeff = 1.0f,
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::Oyster::Math::Float staticFrictionCoeff = 1.0f,
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::Oyster::Math::Float kineticFrictionCoeff = 1.0f,
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const ::Oyster::Math::Float4x4 &inertiaTensor = ::Oyster::Math::Float4x4::identity,
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const ::Oyster::Math::Float4 &reach = ::Oyster::Math::Float4::null,
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const ::Oyster::Math::Float4 ¢erPos = ::Oyster::Math::Float4::standard_unit_w,
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const ::Oyster::Math::Float4 &rotation = ::Oyster::Math::Float4::null,
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const ::Oyster::Math::Float4 &linearMomentum = ::Oyster::Math::Float4::null,
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const ::Oyster::Math::Float4 &angularMomentum = ::Oyster::Math::Float4::null );
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CustomBodyState & operator = ( const CustomBodyState &state );
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const ::Oyster::Math::Float GetMass() const;
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const ::Oyster::Math::Float GetRestitutionCoeff() const;
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const ::Oyster::Math::Float GetFrictionCoeff_Static() const;
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const ::Oyster::Math::Float GetFrictionCoeff_Kinetic() const;
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const ::Oyster::Math::Float4x4 & GetMomentOfInertia() const;
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const ::Oyster::Math::Float4 & GetReach() const;
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::Oyster::Math::Float4 GetSize() const;
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const ::Oyster::Math::Float4 & GetCenterPosition() const;
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const ::Oyster::Math::Float4 & GetAngularAxis() const;
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::Oyster::Math::Float4x4 GetRotation() const;
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::Oyster::Math::Float4x4 GetOrientation() const;
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::Oyster::Math::Float4x4 GetView() const;
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const ::Oyster::Math::Float4 & GetLinearMomentum() const;
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::Oyster::Math::Float4 GetLinearMomentum( const ::Oyster::Math::Float4 &at ) const;
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const ::Oyster::Math::Float4 & GetAngularMomentum() const;
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const ::Oyster::Math::Float4 & GetLinearImpulse() const;
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const ::Oyster::Math::Float4 & GetAngularImpulse() const;
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void SetMass_KeepMomentum( ::Oyster::Math::Float m );
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void SetMass_KeepVelocity( ::Oyster::Math::Float m );
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void SetRestitutionCoeff( ::Oyster::Math::Float e );
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void SetFrictionCoeff( ::Oyster::Math::Float staticU, ::Oyster::Math::Float kineticU );
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void SetMomentOfInertia_KeepMomentum( const ::Oyster::Math::Float4x4 &tensor );
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void SetMomentOfInertia_KeepVelocity( const ::Oyster::Math::Float4x4 &tensor );
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void SetSize( const ::Oyster::Math::Float4 &size );
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void SetReach( const ::Oyster::Math::Float4 &halfSize );
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void SetCenterPosition( const ::Oyster::Math::Float4 ¢erPos );
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void SetRotation( const ::Oyster::Math::Float4 &angularAxis );
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void SetRotation( const ::Oyster::Math::Float4x4 &rotation );
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void SetOrientation( const ::Oyster::Math::Float4x4 &orientation );
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void SetLinearMomentum( const ::Oyster::Math::Float4 &g );
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void SetAngularMomentum( const ::Oyster::Math::Float4 &h );
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void SetLinearImpulse( const ::Oyster::Math::Float4 &j );
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void SetAngularImpulse( const ::Oyster::Math::Float4 &j );
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void AddRotation( const ::Oyster::Math::Float4 &angularAxis );
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void AddTranslation( const ::Oyster::Math::Float4 &deltaPos );
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void ApplyLinearImpulse( const ::Oyster::Math::Float4 &j );
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void ApplyAngularImpulse( const ::Oyster::Math::Float4 &j );
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void ApplyImpulse( const ::Oyster::Math::Float4 &j, const ::Oyster::Math::Float4 &at, const ::Oyster::Math::Float4 &normal );
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bool IsSpatiallyAltered() const;
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bool IsDisturbed() const;
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private:
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::Oyster::Math::Float mass, restitutionCoeff, staticFrictionCoeff, kineticFrictionCoeff;
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::Oyster::Math::Float4x4 inertiaTensor;
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::Oyster::Math::Float4 reach, centerPos, angularAxis;
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::Oyster::Math::Float4 linearMomentum, angularMomentum;
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::Oyster::Math::Float4 linearImpulse, angularImpulse;
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bool isSpatiallyAltered, isDisturbed;
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};
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}
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} }
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#include "PhysicsStructs-Impl.h"
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#endif |